基于激光雷达的移动机器人避障策略研究
发布时间：2018-08-13 12:54
【摘要】：激光雷达具有扫描精度高的优点,因此采用激光雷达来获取机器人周围环境信息.针对VFH算法中波谷宽度的计算以及纯转向问题,提出了一种方法来计算波谷的宽度以及检测机器人在该波谷的可通行性,在获得目标方向的基础上增加局部目标点作为VFH算法结果,并在此基础上设计一种平滑转弯的控制策略,使得机器人能够在复杂环境中以平滑路径逼近目标位置.最后通过实验验证了本文平滑避障策略的有效性.
[Abstract]:Lidar has the advantage of high scanning precision, so the Lidar is used to obtain the surrounding information of robot. Aiming at the calculation of wave trough width and the pure steering problem in VFH algorithm, a method is proposed to calculate the width of wave trough and to detect the passability of robot in the wave valley. On the basis of obtaining the target direction, the local target point is added as the result of VFH algorithm, and a smooth turning control strategy is designed on this basis, which enables the robot to approach the target position with a smooth path in the complex environment. Finally, the effectiveness of the smoothing obstacle avoidance strategy is verified by experiments.
【作者单位】： 四川大学电子信息学院;
【基金】：国家自然科学基金(61172181)
【分类号】：TN958.98;TP242
，
本文编号：2181058
[Abstract]:Lidar has the advantage of high scanning precision, so the Lidar is used to obtain the surrounding information of robot. Aiming at the calculation of wave trough width and the pure steering problem in VFH algorithm, a method is proposed to calculate the width of wave trough and to detect the passability of robot in the wave valley. On the basis of obtaining the target direction, the local target point is added as the result of VFH algorithm, and a smooth turning control strategy is designed on this basis, which enables the robot to approach the target position with a smooth path in the complex environment. Finally, the effectiveness of the smoothing obstacle avoidance strategy is verified by experiments.
【作者单位】： 四川大学电子信息学院;
【基金】：国家自然科学基金(61172181)
【分类号】：TN958.98;TP242
，
本文编号：2181058
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