基于障碍物代价势场的移动机器人避障算法

移动机器人所处的环境通常是动态的，机器人需要及时做出响应，同时保证路径的平滑度及与障碍物间的安全距离。针对此问题，提出了一种基于障碍物代价势场的移动机器人动态避障算法。通过建立静态栅格地图及障碍物的代价势场，获得动态场景下的等势线及经过起点、终点的切线，求解最小生成树获得初始候选路径，针对路径的长度、障碍物距离及平滑度对候选路径锚点进行调整。通过引入障碍物速度对代价势场的影响，使得机器人能对移动中的障碍物做出及时的响应。为验证所提算法的有效性，在分辨率为1 200×1 000 m的栅格场景下分别对静态场景和动态场景进行仿真，结果表明：所提算法能够在保证路径具有较高的平滑度且与障碍物间保持安全距离的条件下使路径尽可能得短；同时在动态障碍物场景下依然能保持路径的平滑和避障的安全性，满足动态场景下移动机器人路径规划的要求。

Obstacle avoidance method of mobile robot based on obstacle cost potential field

A mobile robot operates in a dynamic environment, so it must react quickly, maintain a clear path, and keep a safe distance from obstacles. To solve this problem, this paper proposes a dynamic obstacle avoidance method for mobile robots based on the obstacle cost potential field. By establishing a static grid map and the obstacle cost potential field, the equipotential lines in the dynamic scene and the tangents passing through the start to end points are obtained. Then the initial candidate path is obtained by the minimum spanning tree. The candidate path anchor points for the length of the path, the distance from the obstacle and the smoothness are optimized. He candidate path anchor points are then optimized for the path's length, distance from the obstruction, and smoothness. By introducing the influence of obstacle speed on the cost potential field, the robot can respond to the moving obstacle in time. In order to verify the effectiveness of the algorithm, the static scene and the dynamic scene are simulated separately in a grid scene with a resolution of 1 200×1 000 m. The results show that the algorithm in this paper can ensure that the path has a high degree of smoothness and maintain safety between obstacles. Moreover, it makes the path as short as possible under the condition of distance. At the same time, it can still maintain the smoothness of the path and the safety of obstacle avoidance in the dynamic obstacle scene, which can meet the requirements of mobile robot path planning in the dynamic scene.