摘要： 针对遥控小型移动机器人在自主返航实际应用中定位精度低等问题,提出一种小型移动机器人自主返航路径规划方法。介绍小型移动机器人的任务流程及硬件系统,利用膨胀算子对栅格地图中的障碍物进行运算得到栅格Voronoi图。使用双边界路径矢量化方法从栅格Voronoi图中提取出矢量路径,并对该路径进行拓扑优化。通过Dijkstra算法对拓扑路径进行路径规划并进行算法验证。实验结果表明,该方法所得路径可使环境中的机器人与障碍物之间的距离最大化,并使移动机器人的运动轨迹具有较高的可执行性,提高了小型移动机器人自主返航的成功率。

关键词: 移动机器人, 数学形态学, 路径规划, Voronoi图, 拓扑优化, Dijkstra算法

Abstract: Aiming at the existing problem of low locating accuracy of teleoperation mini-mobile robot in the actual application of autonomous returning,a path planning method in autonomous returning for mini-mobile robot is proposed.The task process and hardware system for mobile robot is introduced.The obstacle in grid map by dilation operator is calculated,and the grid Voronoi diagram is acquired.From the grid map extracts the vector path by method of double boundary,and the vector path based on topology optimization is optimized.The topology path employing the Dijkstra algorithm is planned.The experiments of path planning are carried out.The experimental results show that the path maximizes the distance between mobile robot and obstacle,and the motion trajectory of mobile robot has higher executability.The success rates of autonomous returning for mini-mobile robot are enhanced.

Key words: mobile robot, mathematical morphology, path planning, Voronoi diagram, topological optimization, Dijkstra algorithm

中图分类号: 

• TP242