| 一种基于有限视场的移动机器人避障路径规划算法 |
| |
| 引用本文： | 刘祥,陈建新.一种基于有限视场的移动机器人避障路径规划算法[J].空间控制技术与应用,2008,34(4):11-16. |
| |
| 作者姓名： | 刘祥 陈建新 |
| |
| 作者单位： | 北京控制工程研究所,北京,100190;空间智能控制技术国家级重点实验室,北京,100190 |
| |
| 摘 要： | 提出一种基于传感器的移动机器人避障路径规划算法。考虑到传感器存在视场范围限制的问题,算法仅利用当前单一视场内的有限环境信息,采用两种搜索模式,以机器人当前的运动方向、障碍物边界端点数据及目标点所在方向为依据,在当前视场中搜索合适的路径。这两种搜索模式保证了路径最终收敛到目标点。最后,通过仿真实例验证了算法的有效性。
|
| 关 键 词： | 移动机器人 有限视场 避障 路径规划
|
A Limited Field-of-View Based Obstacle Avoidance and Path Planning Algorithm for Mobile Robots |
| |
| LIU Xiang,CHEN Jianxin.A Limited Field-of-View Based Obstacle Avoidance and Path Planning Algorithm for Mobile Robots[J].Aerospace Contrd and Application,2008,34(4):11-16. |
| |
| Authors: | LIU Xiang CHEN Jianxin |
| |
| Institution: | 1.Beijing Institute of Control Engineering;Beijing 100190;China;2.National Laboratory of Space Intelligent Control;Beijing 100190;China |
| |
| Abstract: | A new sensor-based obstacle avoidance and path planning algorithm for mobile robots is proposed.The field-of-view(FOV) constraint of sensors is considered,and only the local information of the environment in a single FOV is used.Two searching modes are employed to find a safe path in the current FOV,given the current moving direction,data of obstacle boundary endpoints and the orientation of the target.The two modes ensure the convergence to the target of the path.Simulations results demonstrate the effecti... |
| |
| Keywords: | mobile robots limited field-of-view obstacle avoidance path planning |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《空间控制技术与应用》浏览原始摘要信息 |
| 点击此处可从《空间控制技术与应用》下载免费的PDF全文 |
