摘要
分析了虚拟力场法采用全局栅格表示环境信息具有累积误差大、信息存储量大的缺点,设计了动态栅格法表示环境信息,使用跟随机器人移动的扇形栅格表示环境信息,使用栅格中心坐标投影的方法存储多次超声测量数据信息,与势场法相结合对机器人进行导航控制。经仿真和实验验证,改进后的虚拟力场法取得了良好的应用效果。
The virtual force field obstacle avoidance algorithm is analyzed,it is indicated that the certainty value algorithm for environment description has the disadvantages of big error accumulation and needs more data memory.The dynamic grids algorithm is proposed,sector grids which move together with robot are used to describe environment information,environment information are saved by the means of mapping of grid center coordinate,it is integrated with potential field methods for robot navigation control.By the simulation and experiment validation,this obstacle avoidance algorithm achieves good effect.
出处
《工业控制计算机》
2007年第5期26-27,29,共3页
Industrial Control Computer
基金
面向21世纪教育振兴行动计划资助项目(204023)
国家863基金资助项目(2001AA422110)
关键词
虚拟力场法
动态栅格法
移动机器人
避障
virtual force field algorithm,dynamic grids algorithm,mobile robot,obstacle avoidance
