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基于速度分解法的移动机器人动态避碰规划
谢宏健
(华东理工大学)
Dynamic Collision-avoidance Planning of Mobile Robot Based on velocity resolution
xiehongjian
(East China University of Science and Technology)
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投稿时间:2010-09-19    修订日期:2010-09-19
中文摘要: 研究了移动机器人对运动障碍物的动态避障。将移动机器人的速度分解为目标方向速度和避障方向速度,并通过分析移动机器人与障碍物的相对速度和相对位置之间的夹角,以此改变移动机器人的避障方向速度大小来完成移动机器人对动态障碍物的避障。仿真结果表明,该方法有效地克服了避碰规划的保守性,能够使移动机器人在具有多个动态障碍物的复杂环境中安全避障。
Abstract:The dynamic avoiding collision with multi moving obstacles of mobile robot was studied. The speed of mobile robot was decomposed into the goal direction speed and the obstacle avoidance direction speed, through the angle analysis between the relative speed and the relative position of the mobile robot , then changed the obstacle avoidance direction speed of mobile robot to avoid the dynamic obstacles safely. Simulation results show that the proposed methods effectively overcome conservativeness of collision-avoidance planning and can help the mobile robot safely reach the target in a dynamic environment where multi-moving obstacles exist.
文章编号:20100919001     中图分类号:    文献标志码:
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