机电工程技术2016，Vol.45Issue(9)：21-26,6.DOI:10.3969/j.issn.1009-9492.2016.09.005
改进动态窗口法的阿克曼移动机器人局部路径规划器
A Modified Dynamic Window Approach to Local Path Planning for the Ackermann Mobile Robot
摘要
Abstract
Local path planning is a key technology of mobile robots,and its quality is closely related to the performance of the whole robot system. The Dynamic Window Approach (DWA) is a respective collision avoidance algorithm performing the motion plan in the velocity space of robots. Incorporating the Ackermann robots with DWA in this paper, we propose a local path planning algorithm for the Ackermann mobile robots including a curvature similarity evaluation factor of trajectories.At last, we perform a simulation experiment traveling a‘S’ shape path to verify the new algorithm in the Robot Operating System (ROS). The results of the experiment show that the algorithm proposed in this paper performs successfully a autonomous collision avoidance function in a known grid map.关键词
阿克曼移动机器人/动态窗口法/曲率相似度评价因子/局部路径规划Key words
Ackermann Mobile Robot/Dynamic Window Approach/curvature similarity evaluation factor/local path planning分类
信息技术与安全科学引用本文复制引用
徐保来,管贻生,苏泽荣,谷世超,黄晶..改进动态窗口法的阿克曼移动机器人局部路径规划器[J].机电工程技术,2016,45(9):21-26,6.基金项目
国家基金委－广东省联合基金项目（编号U1401240）；广东省自然科学基金项目（编号S2013020012797）；国家自然科学基金项目 （）
