武汉工程大学学报2013，Vol.35Issue(4)：66-71,6.DOI:10.3969/j.issn.1674-2869.2013.04.015
记忆运动方向的机器人避障算法
Obstacle avoidance algorithm of robot based on recording move direction
鲁统伟 1林芹 1李熹 2邹旭2
作者信息
- 1. 武汉工程大学计算机科学与工程学院,湖北武汉430074
- 2. 智能机器人湖北省重点实验室,湖北武汉430074
- 折叠
摘要
Abstract
Tangentbug algorithm performance is very robust in the general Obstacle Avoidance environment. When the Obstacle Avoidance environment has symmetrical obstacles, Tangentbug algorithm is prone to producing the infinite loop of path leading to the end point unreachable. However, the symmetrical obstacle is very common in the robot Obstacle Avoidance competition. The Tangentbug algorithm based on the memorizing moving direction was put forward. The robot recorded each passing by location point and corresponding moving direction for further updating direction of movement. Firstly, the direction between robot and obstacle was calculated when obstacle was scanned. Secondly, according to the edge of the obstacle, the statistics of local map information was got to find the nearest point to the end point and the local point as the next moving direction. Moreover, the moving direction was updated based on the minimum distance of the Local Tangent Graph and moving direction in memory when robot moved around the obstacle. The meet direction and the moving direction were updated in the entire process of obstacle avoidance. So that the robot would reach the end point by moving straight to the goal and moving around the obstacle. Experimental results show that the robot not only reaches the end point in a symmetrical obstacle environment, but also reaches the end point in the asymmetric obstacle environment, which verifies the effectiveness and robustness of the algorithm.关键词
Tangentbug/避障/运动方向/仿真Key words
Tangentbug/ obstacle avoidance/ move-direction/ simulation分类
信息技术与安全科学引用本文复制引用
鲁统伟,林芹,李熹,邹旭..记忆运动方向的机器人避障算法[J].武汉工程大学学报,2013,35(4):66-71,6.
