摘要
在四轮差速机器人自主运行的过程中,为了更好的完成任务要求,需要加入一个实时的检测,当机器人遇到障碍物时根据需要对路径进行调整,以避开障碍物,所以这就需要加入局部路径规划的算法。Time-Elastic-Band(TEB)算法所规划的局部路径在规避障碍物时不能完全符合机器人的运动状态,因此需对原算法进行优化,并基于ROS平台对优化后的算法进行仿真测试,最终得到符合机器人实际运动状态的局部路径。
In the process of autonomous operation of four-wheel differential robot,in order to better complete the task requirements,a real-time detection needs to be added.When the robot encounters obstacles,the path should be adjusted as needed to avoid obstacles,so it needs to add the algorithm of local path planning.The local path planned by Time-Elastic-Band(TEB)algorithm cannot fully meet the motion state of the robot when avoiding obstacles.Therefore,the original algorithm needs to be optimized,and the optimized algorithm is tested based on ROS platform,and finally the local path in line with the actual motion state of the robot is obtained.
作者
陈曦
石博强
郭辉
CHEN Xi;SHI Boqiang;GUO Hui(Shunde Graduate School,University of Science and Technology Beijing,Beijing 100083)
出处
《软件》
2022年第6期133-137,145,共6页
Software