摘要
为控制移动机器人成功躲避静、动障碍物,安全快速运行至目的地,研究移动机器人避障路径多激光传感器融合规划技术。此技术在机器人身上安装2个激光雷达传感器,感知机器人所处环境障碍信息,由基于多激光传感器融合的障碍物定位方法,将2个激光雷达传感器感知信息加权融合,提取静态障碍物位置数据后,使用基于动态避障的机器人路径规划方法,改进A∗算法结合静态障碍物位置数据,规划机器人避障的全局避障路径;考虑到全局避障路径中会有可能出现动态障碍物,由人工势场法,计算动态障碍物与目的地对机器人的斥力、引力、合力以及合力方向,调节机器人在全局避障路径中,动态避障的运行方向。实验中,本方法下对障碍物定位偏差在0.1 m内,此技术对静、动障碍物的避障能力合格,运行至目的地时,与障碍物0次碰撞,规划路径和运行时间较短,分别为158 m和9.2 min,效率较高。
To control mobile robots to successfully avoid static and dynamic obstacles and safely and quickly run to their destination,a multi laser sensor fusion planning technology for obstacle avoidance path of mobile robots is studied.This technology installs two LiDAR sensors on the robot to sense the obstacle information in the environment where the robot is located.The obstacle positioning method based on multi laser sensor fusion weights the perception information of the two LiDAR sensors and extracts static obstacle position data.After that,the robot path planning method based on dynamic obstacle avoidance is used,and the improved A∗algorithm is combined with static obstacle position data,Plan the global obstacle avoidance path for robots;Considering the possibility of dynamic obstacles appearing in the global obstacle avoidance path,the artificial potential field method is used to calculate the repulsive force,gravitational force,combined force,and direction of the dynamic obstacles and the destination on the robot,and adjust the direction of the robot’s dynamic obstacle avoidance in the global obstacle avoidance path.In the experiment,the deviation of obstacle positioning under the method proposed in this article is within 0.1 m.This technology has qualified obstacle avoidance ability for static and dynamic obstacles.When running to the destination,it collides with the obstacle 0 times,and the planned path and running time are relatively short,with 158 m and 9.2 min,respectively,indicating high efficiency.
作者
梅立雪
曹君
汪兆栋
MEI Lixue;CAO Jun;WANG Zhaodong(Jingdezhen University,Jingdezhen Jiangxi 333000,China)
出处
《激光杂志》
CAS
北大核心
2024年第8期235-240,共6页
Laser Journal
基金
江西省科技计划学科建设项目(No.20212GYZD011-02)
江西省教改科技项目(No.GJJ2202412)。
关键词
移动机器人
避障路径
多激光传感器
融合规划
改进A∗算法
人工势场法
mobile robots
obstacle avoidance path
multiple laser sensors
integration planning
improve the A∗algorithm
artificial potential field method
