基于弹簧模型的移动机器人路径规划研究
发布时间：2019-03-16 15:18
【摘要】：针对传统人工势场法在路径规划中存在局部极小点问题,提出了一种基于虚拟弹簧模型的移动机器人局部路径规划算法。通过模拟弹性小球在有障碍物的斜坡上滚下过程中的受力情况,规划移动机器人从开始位置到目标点位置的移动过程;建立弹簧力学模型完成机器人的避障行为,并结合使用沿障碍物边缘移动和切换目标点位置两种控制策略,解决局部路径规划算法极易出现的局部极小点问题。仿真试验和实际移动机器人的实验表明,该算法能进行实时避障和路径规划,并确保移动机器人在绝大部分环境中能安全、快速地到达目标点。
[Abstract]:A local path planning algorithm for mobile robot based on virtual spring model is proposed to solve the problem of local minima in path planning based on traditional artificial potential field method. By simulating the force of the elastic ball in the process of rolling down the slope with obstacles, the moving process of the mobile robot from the starting position to the position of the target point is planned. The spring mechanics model is established to complete the obstacle avoidance behavior of the robot. Combined with the control strategy of moving along the edge of the obstacle and switching the position of the target point, the local minimum point problem which is easy to occur in the local path planning algorithm is solved. Simulation experiments and actual mobile robot experiments show that the proposed algorithm can avoid obstacles and plan paths in real time, and ensure that the mobile robot can reach the target point safely and rapidly in most environments.
【作者单位】： 浙江大学电气工程学院;浙江水利水电学院信息工程与艺术设计学院;杭州电子科技大学计算机学院;
【基金】：浙江省自然科学基金(LY13F020033)项目资助
【分类号】：TP242
[Abstract]:A local path planning algorithm for mobile robot based on virtual spring model is proposed to solve the problem of local minima in path planning based on traditional artificial potential field method. By simulating the force of the elastic ball in the process of rolling down the slope with obstacles, the moving process of the mobile robot from the starting position to the position of the target point is planned. The spring mechanics model is established to complete the obstacle avoidance behavior of the robot. Combined with the control strategy of moving along the edge of the obstacle and switching the position of the target point, the local minimum point problem which is easy to occur in the local path planning algorithm is solved. Simulation experiments and actual mobile robot experiments show that the proposed algorithm can avoid obstacles and plan paths in real time, and ensure that the mobile robot can reach the target point safely and rapidly in most environments.
【作者单位】： 浙江大学电气工程学院;浙江水利水电学院信息工程与艺术设计学院;杭州电子科技大学计算机学院;
【基金】：浙江省自然科学基金(LY13F020033)项目资助
【分类号】：TP242
【参考文献】
相关期刊论文 前4条
1 刘洞波;杨高波;肖鹏;屈喜龙;刘长松;;移动机器人自适应抗差无迹粒子滤波定位算法[J];仪器仪表学报;2015年05期
2 罗乾又;张华;王Y，
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