[1]章小兵,宋爱国,唐鸿儒.基于实时滚动亚目标的遥控移动机器人局部路径规划方法[J].东南大学学报(自然科学版),2006,36(1):58-62.[doi:10.3969/j.issn.1001-0505.2006.01.012]
　Zhang Xiaobing,Song Aiguo,Tang Hongru.Local path planning method for remote-controlled mobile robots based on real time rolling subgoals[J].Journal of Southeast University (Natural Science Edition),2006,36(1):58-62.[doi:10.3969/j.issn.1001-0505.2006.01.012]
点击复制

基于实时滚动亚目标的遥控移动机器人局部路径规划方法()
分享到：

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
36
期数:
2006年第1期
页码:
58-62
栏目:
自动化
出版日期:
2006-01-20

文章信息/Info

Title:
Local path planning method for remote-controlled mobile robots based on real time rolling subgoals
作者:
章小兵1; 2;  宋爱国1;  唐鸿儒1
1 东南大学仪器科学与工程系, 南京 210096; 2 安徽工业大学电气信息学院,马鞍山 243001
Author(s):
Zhang Xiaobing1; 2;  Song Aiguo1;  Tang Hongru1
1 Department of Instrument Science and Technology, Southeast University, Nanjing 210096, China
2 College of Electricity and Communication, Anhui University of Industry, Maanshan 243001, China
关键词:
遥控移动机器人;  局部路径规划;  实时滚动亚目标
Keywords:
remote-controlled mobile robots;  local path planning;  real time rolling subgoals
分类号:
TP24
DOI:
10.3969/j.issn.1001-0505.2006.01.012
摘要:
在机器人前部一定范围内虚拟出8个亚目标,采集前部8个超声波传感器数据,根据工作场所障碍物分布情况,分析指定范围内有无障碍物,结合机器人航向偏离目标的角度,选择最佳亚目标.若机器人航向在一个规定的小角度范围内对准目标且机器人正前方无障碍物,机器人作直线运动; 其他情况下,机器人以圆弧接近最佳亚目标.在运动过程中,最佳亚目标滚动更新,运动轨迹随之变化.该方法克服了机器人避障时速度慢的缺点,避障流畅,路径平滑且能以较短路径接近目标,实用快捷.
Abstract:
The local path planning method is used to solve the delay during communication with remote-controlled mobile robots. The best subgoal is selected from eight virtual subgoals in a certain range in front of a robot according to the angle between the direction of the mobile robot navigation and the direction from the robot to the goal and the distribution of obstacles in a certain region of the measure range of eight ultrasonic sensors. The robot moves along a line under the circumstance that it aims at the goal in a small angle and there is no obstacle just before it. Otherwise, it moves toward the best subgoal along a round curve. During the motion of the robot, the best subgoal is refreshed according to a rolling mode and therefore the track is changed. The shortcoming of slowness is therefore overcome when the robot avoids obstacles, and it can approach the goal quickly along smoother and shorter path.

参考文献/References:

[1] Park Min Gyu,Lee Min Cheal.Artificial potential field based path planning form mobile robots using a virtual obstacle concept[C] //Proceedings of the 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Kobe,Japan,2003:735-740.
[2] Tsourveloudis Nikos C,Valavanis Kimon P,Hebert Timothy.Autonomous vehicle navigation utilizing electrostatic potential fields and fuzzy logic[J]. IEEE Transactions on Robtics and Automation,2001,17(4):490-497.
[3] Valavanis Kimon P,Hebert Timothy,Kolluru Ramesh,et al.Mobile robot navigation in 2-D dynamic environment using an electrostatic potential field[J].IEEE Transactions on Systems,Man,and Cybernentics,Part A:Systems and Humans,2000,30(2):187-195.
[4] Liu Chengqing,MarcelO H Ang Jr,Krishnan Hariharan,et al.Virtual obstacle concept for local-minimum-recovery in potential-field based navigation[C] //Proceedings of the 2000 IEEE International Conference on Robotics and Automation.San Francisco,CA,2000:983-988.
[5] 付宜利,顾晓宇,王树国.基于模糊控制的自主机器人路径规划策略研究[J].机器人,2004,26(6):548-552.
　 Fu Yili,Gu Xiaoyu,Wan Shuguo.A fuzzy control based path planning strategy for automations robot[J].Robot,2004,26(6):548-552.(in Chinese)
[6] 温素芳,朱齐丹,张小仿.基于模糊控制器的移动机器人路径规划仿真[J].应用科技,2005,32(42):31-33.
　 Wen Sufang,Zhu Qidan,Zhang Xiaofang.Simulation of the path planning of mobile robot based on the fuzzy controller[J].Applied Science and Technology,2005,32(42):31-33.(in Chinese)
[7] 沈明霞.自主行走农业机器人视觉导航信息处理技术研究[D].南京:南京农业大学,2001.
[8] 衣法臻.智能机器人视觉对目标的识别定位与跟踪控制[D].哈尔滨:哈尔滨工业大学,2002.
[9] 尚文.以视觉传感为主的移动机器人定位导航和环境建模[D].南京:东南大学自动控制系,2005.

备注/Memo

备注/Memo:
基金项目: 国家自然科学基金资助项目(60475034)、霍英东教育基金资助项目.
作者简介: 章小兵(1972—),男,博士生,讲师,xyzxb@ahut.edu.cn.
更新日期/Last Update: 2006-01-20