计算机工程Issue(4)：306-310,5.DOI:10.3969/j.issn.1000-3428.2015.04.058
基于激光雷达的移动机器人避障规划仿真研究
Simulation Research on Obstacle Avoidance Planning for Mobile Robot Based on Laser Radar
摘要
Abstract
Through improving the traditional Vector Field Histogram ( VFH ) algorithm, a kind of outdoor obstacle avoidance planning algorithm for laser radar is proposed. Based on the laser radar and adaptive threshold, through the planning of the target course,the algorithm gets the real-time obstacle avoidance direction of the robot. When there are obstacles between the robot and the target point,the robot obtains the target heading with the maximum threshold. When between the robot and the target point without obstacles,the minimum threshold is used for robots which do not collide with obstacles. Simulation result shows that, when the robot speed is below 0. 8 m/s, it can be safely and smoothly through the complex obstacle area,gets to the goal;Otherwise,the robot gets to the goal with slight rub.关键词
机器人/避障/矢量场直方图/激光雷达/自适应阈值/目标航向Key words
robot/obstacle avoidance/Vector Field Histogram( VFH)/laser radar/adaptive threshold/target course分类
信息技术与安全科学引用本文复制引用
刘杰,闫清东,唐正华..基于激光雷达的移动机器人避障规划仿真研究[J].计算机工程,2015,(4):306-310,5.基金项目
国家部委基金资助项目。 （）
