中国机械工程2009，Vol.20Issue(21)：2553-2557,2580,6.
动态环境中基于碰撞预测的局部路径规划方法
A Local Path Planning of Mobile Robots in Dynamic Environment Based on Prediction of Collision
摘要
Abstract
A local path planning based on prediction of collision was proposed. The velocity of obstacles and its probability distribution was estimated by an adaptive unscented Kalman filter(UKF), so that the dangerous region (potential collision region) was predicted. Based on the probability distribution of the dangerous region, it was then expanded to ensure the security. By finding the best "free road" and estimating the "danger", all information needed in path planning was then compressed. Consequently the efficiency of the fuzzy logic controller was improved significantly, which was also employed to calculate the speed of the robot. The results of both simulations and experiments prove that the method gets better effect in both static environment and dynamic environment with uncertainty.关键词
局部路径规划/自由路径/模糊控制/动态环境/碰撞预测Key words
local path planning/ free road/ fuzzy logic control/ dynamic environment/ collision predict分类
信息技术与安全科学引用本文复制引用
高扬,孙树栋,赫东峰..动态环境中基于碰撞预测的局部路径规划方法[J].中国机械工程,2009,20(21):2553-2557,2580,6.基金项目
西北工业大学研究生创业种子基金资助项目(200820) （200820）
