摘要
智能机器人的地图存储功能使其能够按照标定路线行进,但是由于实际环境的复杂性,机器人易受障碍物影响,无法按照标定路径完成导航。为此,提出基于改进边缘梯度的机器人标定路径导航方法。根据机器人在标定路径中与障碍物发生碰撞的可能性,规划机器人开展标定路径。标定路径中存有动静态障碍物,机器人导航时会存有导航偏差。采用改进边缘梯度修正路径,使机器人可以完美避障,实现机器人标定路径的精准导航。实验结果表明,研究方法应用下机器人导航的响应时间控制在5ms内,且机器人导航路径与标定路线一致,验证了上述方法的高精准性、较强的有效性。
Due to the complexity of the environment,the robot is vulnerable to obstacles and cannot complete navigation according to the calibration path.Therefore,this paper presented a method of robot calibration path navigation based on improved edge gradient.According to the possibility of collision between the robot and obstacles in the calibration path,we designed a robot calibration path.Due to dynamic and static obstacles in the path,there would be navigation deviation.As a result,the improved edge gradient was used to modify the path,so that the robot could avoid obstacles perfectly.Finally,the accurate navigation of the robot calibration path was achieved.Experimental results show that the response time of navigation is controlled within 5ms by the proposed method.Meanwhile,the robot navigation path is consistent with the calibration path.Thus,the high accuracy and strong effectiveness of the method are proved.
作者
安燕霞
郑晓霞
AN Yan-xia;ZHENG Xiao-xia(School of Intelligent Engineering,Jinzhong College of Information,Jinzhong Shanxi 110015,China;College of Aeronautics and Astronautics,Taiyuan University of Technology,Taiyuan Shanxi 030024,China)
出处
《计算机仿真》
北大核心
2023年第5期434-437,505,共5页
Computer Simulation
基金
山西省“1331工程”资助
山西省2021年教改课题(J2021952)。
关键词
改进边缘梯度
机器人标定路径导航
障碍物碰撞分析
路径规划
Improved edge gradient
Robot calibration path navigation
Analysis of obstacle collision
Path planning
