【作者】 关胜晓； 许心德； 曹洋； 张彦；

【Author】 Guan Sheng-xiao Xu Xin-de Cao Yang Zhang Yan (School of Information Science and Technology,University of Science and Technology of China,Anhui,Hefei,230026)

【机构】 中国科学技术大学信息科学技术学院；

【摘要】 移动机器人在环境中运动时必须避开运动障碍物。存在三种阻断关系,分别为机器人向目标运动的直线路径段未被障碍阻断、机器人向目标运动的直线路径段被运动障碍阻断、机器人直线路径被运动障碍区域阻断。区别机器人向目标运动的直线路径段与障碍物之间的阻断关系,采取相应的避障策略,其核心在于以障碍物位置和运动目标为导向。仿真结果表明,本文提出的算法在实际机器人避障中具有应用价值。更多还原

【Abstract】 There are three types of relationship between a mobile robot and moving obstacles.The first situation is that the linear path segments from robot to the goal are not blocked by moving obstacles,the second is that the linear path segments from robot to the goal are blocked by the moving obstacles,and the third is that the linear path are blocked by the zone of moving obstacles.Therefore, correspondently obstacle avoidance strategies are proposed.The simulation results show that the algorithms proposed in this paper is useful in mobile robots obstacle avoidance applications.更多还原