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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。

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.