摘要
针对建筑环境移动操作机器人运动规划问题,提出改进的A∗算法融合TEB(Timed Elastic Band)算法进行机器人的运动控制,完成建筑机器人近距离停靠在平行于打孔位置墙面的任务。从仿真以及实验可以看出,相比于传统A∗算法,改进A∗算法时效更高,路径更平滑,便于建筑机器人生成较好的全局路径轨迹。融合TEB算法实时求解以一定的频率进行局部路径规划,机器人运动过程中激光雷达负责定位以及获得障碍物信息,高效完成运动规划任务。并提出了进一步改进措施,可以优化建图定位参数,也可继续改进全局与局部路径规划算法,补偿机器人运动误差,以达到更好的导航效果。
Aiming at the motion planning problem of mobile operation robots in building environment,an improved A∗algorithm combined with the Timed Elastic Band(TEB)algorithm is proposed to control the robot's motion,and the construction robot could dock in a close distance on the wall parallel to the drilling position.It can be verified from the simulation and experiments that compared with the traditional A∗algorithm,the improved A∗algorithm has higher time-effectiveness and smoother path,which is convenient for the construction robot to generate better global path trajectory.TEB algorithm is integrated to solve the local path planning at a certain frequency in real time.Lidar is responsible for locating and obtaining obstacle information during the robot movement,thus completing the motion planning task efficiently.Furtherly,improvement measures are proposed,which can optimize the mapping location parameters,and improve the global and local path planning algorithms to compensate the robot motion errors,so as to achieve better navigation effect.
作者
徐定明
李子信
张怡俊
XU Dingming;LI Zixin;ZHANG Yijun(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《智能计算机与应用》
2022年第12期55-61,共7页
Intelligent Computer and Applications
关键词
改进A∗算法
TEB算法
建筑机器人
运动规划
improved A^(∗)algorithm
TEB algorithm
construction robots
motion planning
