四川大学学报（自然科学版）2017，Vol.54Issue(3)：529-534,6.DOI:10.3969/j.issn.0490-6756.2017.03.017
基于激光雷达的移动机器人避障策略研究
Obstacle avoidance for mobile robots strategy based on laser radar
摘要
Abstract
Laser radar has the advantages of high scanning precision.So it is used to obtain the information about the environment around the robot.In order to solve the problems about trough width calculation and pure steering in the VFH algorithm,a method to calculate the trough width and check the traversability of the robot in this trough is proposed.Based on the acquiring goal orientation,local target points are added as the result of the VFH algorithm.In addition,a control strategy of smooth turning is designed,which makes the robot to approach the target position with smooth way in a complex environment.Finally,effectiveness of the method is verified by experiments.关键词
激光雷达/移动机器人/VFH/直方图/平滑避障Key words
Laser radar/Mobile robot/VFH/Histogram/Smooth obstacle avoidance分类
信息技术与安全科学引用本文复制引用
向亚军,严华..基于激光雷达的移动机器人避障策略研究[J].四川大学学报（自然科学版）,2017,54(3):529-534,6.基金项目
国家自然科学基金(61172181) （61172181）
