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    谢宏健, 王华忠. 基于速度分解法的移动机器人动态避碰规划[J]. 华东理工大学学报(自然科学版), 2011, (2): 234-238.
    引用本文: 谢宏健, 王华忠. 基于速度分解法的移动机器人动态避碰规划[J]. 华东理工大学学报(自然科学版), 2011, (2): 234-238.
    XIE Hong-jian, WANG Hua-zhong. Dynamic Collision-Avoidance Planning of Mobile Robot Based on Velocity Resolution[J]. Journal of East China University of Science and Technology, 2011, (2): 234-238.
    Citation: XIE Hong-jian, WANG Hua-zhong. Dynamic Collision-Avoidance Planning of Mobile Robot Based on Velocity Resolution[J]. Journal of East China University of Science and Technology, 2011, (2): 234-238.

    基于速度分解法的移动机器人动态避碰规划

    Dynamic Collision-Avoidance Planning of Mobile Robot Based on Velocity Resolution

    • 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,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。仿真实验结果表明: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: This paper considers the dynamic avoiding collision problem of mobile robot for multi-moving obstacles. Firstly, the speed of mobile robot is decomposed into the goal direction and the obstacle avoidance direction speed. And then, by analyzing the angle between the relative speed and the relative position of the robot, the obstacle avoidance direction speed can be changed so as to avoid the dynamic obstacles safely. Simulation results show that the proposed methods effectively overcome conservativeness of collision-avoidance planning, and can ensure the mobile robot to safely reach the target in a dynamic environment with multi-moving obstacles.

       

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