华中科技大学学报（自然科学版）2011，Vol.39Issue(z2)：275-278,4.
室内移动服务机器人的避障与运动规划
Research on obstacle avoidance and motion planning of indoor mobile service robot
杨国田 1高明明1
作者信息
- 1. 华北电力大学控制与计算机工程学院,北京102206
- 折叠
摘要
Abstract
An algorithm of obstacle-avoiding and motion planning for indoor mobile service robot was adopted in this paper. According to the analysis of the information detected by the ultrasonic sensor array about obstacles in the unknown environment, the rotation angle and rotation radius of the robot were obtained, and the moving speed of the robot was selected from three values according to the distance. A real-time obstacle avoidance algorithm was proposed based on the kinematics model, and the movement of walking along the outline of the barrier was implemented. Experiments are carried out separately in environment with obstacle that has the outline of concave curve, convex curve, or closed curve. The final results show the effectiveness of the algorithm proposed.关键词
室内移动服务机器人/运动规划/超声传感器阵列/实时避障/运动学模型Key words
indoor mobile service robot/ motion planning/ ultrasonic sensor array/ real-time obstacle avoidance/ kinematics model分类
信息技术与安全科学引用本文复制引用
杨国田,高明明..室内移动服务机器人的避障与运动规划[J].华中科技大学学报（自然科学版）,2011,39(z2):275-278,4.
