摘要
针对移动机器人在复杂未知半未知环境下路径规划时间过长,难以找到全局最优路径的问题,该文提出了一种基于双层框架可视图的双向跳点搜索路径规划方法。首先,将可视图分为局部层和全局层,移动机器人通过传感器对环境信息进行采集与提取,生成局部可视图,接着采用基于障碍物轮廓边长的过滤方法将过滤后的图更新至全局可视图;其次,在跳点搜索算法的基础上新增一个从目标点开始搜索的路径,将跳点搜索算法优化为双向跳点搜索算法;最后,将优化后的算法结合可视图进行路径规划导航。将所提方法在多种复杂场景下进行验证,仿真实验表明:采用了双层框架可视图的双向跳点搜索算法的路径搜索时间和导航时间均有着不同程度的优化,可高效地在复杂未知环境下搜索全局路径。
Aiming at the problem that the path planning time of mobile robot is too long in complex unknown and semi-unknown environment,which is difficult to find the global optimal path,we propose a bidirectional jumping point search path planning method based on double-layer frame visibility.Firstly,the visibility is divided into local layer and global layer,and the mobile robot collects and extracts environmental information through sensors to generate local visibility,and then the filtered map is updated to global visibility by using the filtering method based on the edge length of obstacle contour.Secondly,based on the jumping point search algorithm,a new path is added to search from the target point,and the jumping point search algorithm is optimized into bidirectional jumping point search algorithm.Finally,the optimized algorithm is combined with the view for path planning and navigation.The proposed method is verified in a variety of complex scenes,and the simulation results show that the path search time and navigation time of the two-way hop search algorithm with double-layer frame visibility are optimized to varying degrees,and the global path can be searched efficiently in complex and unknown environments.
作者
刘天琅
许泽东
李家乐
陈检
张建锋
LIU Tian-lang;XU Ze-dong;LI Jia-le;CHEN Jian;ZHANG Jian-feng(School of Information Engineering,Northwest Agricultural&Forestry University,Yangling 712100,China)
出处
《计算机技术与发展》
2024年第6期96-102,共7页
Computer Technology and Development
基金
陕西省重点研发计划项目(2023-YBNY-212)。
关键词
路径规划
全局最优路径
可视图
双向跳点搜索算法
障碍物轮廓边长过滤
path planning
global optimal path
visibility graph
bidirectional jumping point search algorithm
obstacle contour edge length filtering
