【摘要】 在由SLAM建立的确信度栅格地图的支持下,针对复杂环境下的移动机器人实时路径规划问题,提出了障碍物直线扫描检测及回避算法IGODAM(Line-Generating Obstacle De- tecting and Avoidance Method)。LGODAM算法可用于任意外轮廓形状障碍物的检测及回避,很好地解决了极小值陷阱问题,并可在机器人移动的过程中将全局路径规划问题实时地分解为一系列阶段性的局部路径规划问题。还有机结合并应用了统一矢量场局部导航方法。仿真结果表明,通过使用LGODAM算法,移动机器人能以稳定、光滑、合理、无振荡的路径快速运动到目标点处。更多还原

【Abstract】 A real-time path planning method called the line-generating obstacle detecting and avoidance method(LGODAM)for mobile robot is proposed in complex environments with the support of certainty grids map which can be upbuilt by SLAM.The LGODAM can be applied to ob- stacles with any shape of it’s outline.By this means,the local optimum problem is well resolved,also the mission of global path planning is de- composed into a series of phasic sub mission in real-time way during the running of mobile robot.Uni-vector field tracking controller is applied to robot.The effectiveness and elegance of the LGODAM is demonstrated by simulation studies.A number of test cases are presonted,each shows a stable,smooth,reasonable and no oscillating path to the destination of mobile robot.更多还原