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基于障碍物运动预测的移动机器人路径规划
Alternative TitlePath planning of mobile robot based on obstacle motion prediction
杨奇峰1,2,3,4; 曲道奎1,2,4; 徐方1,2,4
Department其他
Source Publication计算机工程与设计
ISSN1000-7024
2021
Volume42Issue:1Pages:182-188
Contribution Rank1
Funding Organization国家自然科学基金项目(U1608253)
Keyword移动机器人 动态避障 路径规划 运动预测 动态障碍物
Abstract

针对移动机器人局部动态避障路径规划问题开展优化研究。基于动态障碍物当前历史位置轨迹,提出动态障碍物运动趋势预测算法。在移动机器人的动态避障路径规划过程中,考虑障碍物当前的位置,评估动态障碍物的移动轨迹;提出改进的D*Lite路径规划算法,大幅提升机器人动态避障算法的效率与安全性。搭建仿真验证环境,给出典型的单动态障碍物、多动态障碍物场景,对比验证了避障路径规划算法的有效性。

Other Abstract

The mobile robot dynamic obstacle avoidance path planning problem was studied. Based on the historical position of dynamic obstacles, a dynamic obstacle motion trend prediction algorithm was proposed. In the process of mobile robot dynamic obstacle avoidance path planning, not only the current position of obstacles was considered, but also the moving trajectory of dynamic obstacles was evaluated. An improved D* lite path planning algorithm was proposed, which greatly improved the efficiency and security of robot dynamic obstacle avoidance algorithm. The simulation environment was built, and the typical path planning of single dynamic obstacle and multi dynamic obstacle were compared. The experimental results verify the effectiveness of the algorithm proposed.

Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/28153
Collection其他
Corresponding Author杨奇峰
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院机器人与智能制造创新研究院
3.中国科学院大学
4.沈阳新松机器人自动化股份有限公司
Recommended Citation
GB/T 7714
杨奇峰,曲道奎,徐方. 基于障碍物运动预测的移动机器人路径规划[J]. 计算机工程与设计,2021,42(1):182-188.
APA 杨奇峰,曲道奎,&徐方.(2021).基于障碍物运动预测的移动机器人路径规划.计算机工程与设计,42(1),182-188.
MLA 杨奇峰,et al."基于障碍物运动预测的移动机器人路径规划".计算机工程与设计 42.1(2021):182-188.
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