移动机器人动态路径规划方法的研究与实现

doi:10.11772/j.issn.1001-9081.2017.11.3119

计算机应用 ›› 2017, Vol. 37 ›› Issue (11): 3119-3123.DOI: 10.11772/j.issn.1001-9081.2017.11.3119

• 第十六届中国机器学习会议(CCML 2017) • 上一篇下一篇

移动机器人动态路径规划方法的研究与实现

史进^1,2, 董瑶^1,2,3, 白振东^2,3, 崔泽晨^2,3, 董永峰^2,3

1. 河北工业大学控制科学与工程学院, 天津 300401;
2. 河北工业大学计算机科学与软件学院, 天津 300401;
3. 河北省大数据计算重点实验室, 天津 300401

收稿日期:2017-05-16 修回日期:2017-06-08 出版日期:2017-11-10 发布日期:2017-11-11
通讯作者: 董永峰
作者简介:史进(1981-),男,河北张家口人,讲师,博士研究生,主要研究方向:人工智能、机器人定位导航;董瑶(1982-),女,河北石家庄人,实验师,博士研究生,主要研究方向:智能信息处理、人工智能;白振东(1989-),男,河北邯郸人,硕士研究生,主要研究方向:机器人定位导航、人工智能;崔泽晨(1989-),男,北京人,硕士研究生,主要研究方向:机器人定位导航;董永峰(1987-),男,河北定州人,教授,博士,主要研究方向:智能信息处理。
基金资助:
天津市自然科学基金资助项目（14JCYBJC18500）；天津市应用基础与前沿技术研究计划项目（13JCQNJC00200）。

Research and implementation of mobile robot path planning method

SHI Jin^1,2, DONG Yao^1,2,3, BAI Zhendong^2,3, CUI Zechen^2,3, DONG Yongfeng^2,3

1. School of Control Science and Engineering, Hebei University of Technology, Tianjin 300401, China;
2. School of Computer Science and Engineering, Hebei University of Technology, Tianjin 300401, China;
3. Hebei Province Key Laboratory of Big Data Calculation, Tianjin 300401, China

Received:2017-05-16 Revised:2017-06-08 Online:2017-11-10 Published:2017-11-11
Supported by:
This work is partially supported by the Tianjin Natural Science Foundation Project (14JCYBJC18500), the Tianjin Application Foundation and Frontier Technology Research Program (13JCQNJC00200).

摘要/Abstract

摘要： 针对在未知动态障碍物存在且目标点移动的环境下，采用人工势场法规划路径时斥力影响半径往往大于障碍物的半径从而导致动态障碍物与机器人发生碰撞的问题，提出非完全等待策略与Morphine算法相结合的改进人工势场法动态路径规划策略。当动态障碍物与机器人发生侧面碰撞时采用非完全等待策略；当动态障碍物与机器人发生迎面碰撞时采用Morphine算法局部规划路径；同时引入滚动窗口理论提高躲避动态障碍物的精确度。通过仿真实验，与传统人工势场作对比，提出的改进算法在发生侧面碰撞时要缩短12步，在发生迎面碰撞时要缩短6步，由此可得提出改进算法在路径平滑性和规划步数方面效果更优。

关键词: 路径规划, 人工势场, Morphine算法, 非完全等待策略, 滚动窗口

Abstract: In the environment with unknown dynamic obstacle moving and target point, the radius of the repulsive force is often larger than the radius of the obstacle when the path is planned by the artificial potential field method, which leads to the collision of the dynamic obstacle with the robot. An improved dynamic path planning strategy of artificial potential field based on Morphine algorithm and non-completely waiting strategy was proposed. The non-completely waiting strategy was adopted when the dynamic obstacle collided with the robot on a side. The Morphine algorithm was used to localize the path when the dynamic obstacle collided with the robot face to face. Moreover, the rolling window theory was introduced to improve the accuracy of avoiding dynamic obstacles. Through the simulation tests, compared with the traditional artificial potential field, the proposed algorithm is shortened by 12 steps in the event of a side collision and 6 steps in the event of a face-to-face collision. Therefore, the improved algorithm is more effective in path smoothness and planning steps.

Key words: path planning, artificial potential field, Morphine algorithm, non-completely waiting strategy, rolling window

中图分类号:

TP399

史进, 董瑶, 白振东, 崔泽晨, 董永峰. 移动机器人动态路径规划方法的研究与实现[J]. 计算机应用, 2017, 37(11): 3119-3123.

SHI Jin, DONG Yao, BAI Zhendong, CUI Zechen, DONG Yongfeng. Research and implementation of mobile robot path planning method[J]. Journal of Computer Applications, 2017, 37(11): 3119-3123.

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移动机器人动态路径规划方法的研究与实现

Research and implementation of mobile robot path planning method

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