| 移动机器人自主动态避障方法 |
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| 引用本文： | 张贺,缪存孝,唐友军,闫晓强,时彦洋,余远金.移动机器人自主动态避障方法[J].北京航空航天大学学报,2022,48(6):1013-1021. |
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| 作者姓名： | 张贺 缪存孝 唐友军 闫晓强 时彦洋 余远金 |
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| 作者单位： | 1.北京科技大学 机械工程学院, 北京 100083 |
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| 基金项目： | 国家重点研发计划(2018YFC0810500)；;国家自然科学基金(60277005)； |
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| 摘 要： | 针对基于水流场的全向移动机器人动态避障过程中可能出现的避障失效和避障路径过长问题, 提出了一种基于速度斥力场改进人工势场方法的全向移动机器人自主动态避障方法。详细分析基于水流场改进的人工势场法在动态避障过程中存在的移动机器人从障碍物前方绕过而引起的避障路径过长或避障失效问题；在基于水流场的人工势场避障方法中, 根据移动机器人和动态障碍物的相对速度, 引入速度斥力场, 使得移动机器人从动态障碍物的后方通过, 实现全向移动机器人的安全自主动态避障。通过仿真和室内避障实验, 验证了所提自主动态避障方法的有效性和实用性。
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| 关 键 词： | 移动机器人 人工势场 水流场 速度斥力场 动态避障 |
| 收稿时间： | 2021-01-02 |
Dynamic obstacle avoidance method for mobile robots |
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| Institution: | 1.School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China2.School of Automation, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | This paper proposes an autonomous dynamic obstacle avoidance method for omnidirectional mobile robot by introducing velocity repulsion field to solve the existing problems, an improvement from water flow field based artificial potential field obstacle avoidance method. This paper presents a detailed analysis of problems of artificial potential field improved by water flow field, such as a too long avoidance path or avoidance failure caused by the mobile robot moving in front of the obstacles. To solve the above problems, the velocity repulsion field, in line with the relative velocity of the mobile robot and the dynamic obstacle, is introduced in artificial potential field obstacle avoidance method based on water flow field. With the omni-directional mobile robot moving in rear of the obstacles, a safe and autonomous dynamic obstacle avoidance is fully realized. The effectiveness and practicability of the autonomous dynamic obstacle avoidance algorithm are verified through simulation and indoor obstacle avoidance experiment. |
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