计算机工程

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基于激光雷达的移动机器人避障规划仿真研究

刘 杰1,闫清东1,唐正华2   

  1. (1. 北京理工大学机械与车辆学院,北京100081; 2. 装甲兵学院模拟训练中心,安徽蚌埠233050)
  • 收稿日期:2014-04-24 出版日期:2015-04-15 发布日期:2015-04-15
  • 作者简介:刘 杰(1981 - ),女,博士研究生,主研方向:移动机器人;闫清东,教授;唐正华,讲师。
  • 基金项目:
    国家部委基金资助项目。

Simulation Research on Obstacle Avoidance Planning for Mobile Robot Based on Laser Radar

LIU Jie  1,YAN Qingdong  1,TANG Zhenghua  2   

  1. (1. School of Mechanical Engineering,Beijing Institute of Technology,100081 China; 2. Simulation Training Center,Academy of Armored Forces,Bengbu 233050,China)
  • Received:2014-04-24 Online:2015-04-15 Published:2015-04-15

摘要: 对传统矢量场直方图算法进行改进,使其成为一种适用于将激光雷达作为探测仪的室外避障规划算法。将激光雷达数据作为依据,以自适应阈值为条件,通过对目标航向进行规划,获得机器人行进方向的实时避障算法。当机器人与目标点之间存在障碍物时,以最大阈值获得机器人的目标航向,而当机器人与目标点之间无障碍物时,以最小阈值确保机器人行进过程不会与障碍物发生碰撞。仿真结果表明,在复杂障碍物环境中,当机器人行 进速度低于0. 8 m / s 时,可安全而平滑地通过障碍区,到达目标点;当机器人的行进速度高于0. 8 m / s 时,虽速度过快,机器人与平台之间会有轻微的剐蹭,但最终亦能到达目标点。

关键词: 机器人, 避障, 矢量场直方图, 激光雷达, 自适应阈值, 目标航向

Abstract: Through improving the traditional Vector Field Histogram (VFH) algorithm,a kind of outdoor obstacle avoidance planning algorithm for laser radar is proposed. Based on the laser radar and adaptive threshold,through the planning of the target course,the algorithm gets the real-time obstacle avoidance direction of the robot. When there are obstacles between the robot and the target point,the robot obtains the target heading with the maximum threshold. When between the robot and the target point without obstacles,the minimum threshold is used for robots which do not collide with obstacles. Simulation result shows that,when the robot speed is below 0. 8 m / s,it can be safely and smoothly through the complex obstacle area,gets to the goal;Otherwise,the robot gets to the goal with slight rub.

Key words: robot, obstacle avoidance, Vector Field Histogram(VFH), laser radar, adaptive threshold, target course

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