摘要
为了解决仓储机器人在全动态环境中的自主导航问题,在分析自主导航技术基础上建立了机器人和动态障碍物的数学模型,搭建了以二维激光雷达为主的环境感知平台,提出了一种改进的人工势场法。在传统人工势场法中同时引入相对速度和相对加速度因素得到改进的人工势场模型,实现机器人在全动态环境中的自主移动。设计了无障碍物和多动态障碍物两种移动环境。经仿真验证,应用改进的人工势场法进行路径规划能高效地避开动态障碍物、跟踪动态目标,且运动路径光滑。
In order to solve the problems of warehousing mobile robots autonomous navigation in full dynamic environment,this paper established a mathematical model of robots and dynamic obstacles,designed a platform of environmental awareness based on 2-dimensional lidar,and proposed an improved artificial potential field method.In the traditional artificial potential field method,it introduced the relative speed and relative acceleration to obtain an improved artificial potential field model,which could realize the autonomous movement of the robot in full dynamic environment.It verifies that the improved artificial potential field method is used to plan path,which can effectively avoid the dynamic obstacles and track the dynamic target,and the movement path is smooth.
作者
罗强
王海宝
崔小劲
徐洪泽
Luo Qiang;Wang Haibao;Cui Xiaojing;Xu Hongze(College of Mechanical Engineering,Chongqing Three Gorges University,Chongqing 404100,China;Chongqing Engineering Technology Research Center for Light Alloy&Processing,Chongqing Three Gorges University,Chongqing 404100,China;School of Electronic&Information Engineering,Beijing Jiaotong University,Beijing 100044,China)
出处
《计算机应用研究》
CSCD
北大核心
2020年第3期745-749,762,共6页
Application Research of Computers
基金
重庆市教委科技基金资助项目(KJ1601032,KJQN201901238,KJZDK201901202)
重庆市科学技术委员会基础科学与前沿技术项目(cstc2017jcyjA1543)
重庆三峡学院青年项目(19QN06)。
关键词
动态环境
自主导航
人工势场
路径规划
激光雷达
dynamic environment
autonomous navigation
artificial potential field
path planning
laser radar
