现代雷达2023，Vol.45Issue(11)：84-89,6.DOI:10.16592/j.cnki.1004-7859.2023.11.013
基于激光雷达局部地图构建的机器人避障路径规划
Obstacle Avodiance Path Planning for Robots Based on Local Map Construction Using Lidar
摘要
Abstract
Conditions such as lighting,shadows,and object occlusion in the robot's surrounding environment can easily lead to er-rors in environmental information collection,affecting the accuracy of robot mapping.In order to optimize the detection accuracy of obstacles and the obstacle avoidance speed of robots,a robot obstacle avoidance path planning method based on laser radar and fuzzy proportion integration differentiation(PID)is proposed.By using Kinect sensors the robot environment depth information is collected and converted into 3D information to build a global map.Using laser radar,local maps are constructed through coordinate conversion and line segment segmentation.Combining the Cartographer algorithm to optimize the robot control parameters,a fuzzy PID controller is used to complete the obstacle avoidance path planning of the robot.Experimental results show that the proposed method can successfully avoid obstacles in both ordinary and complex obstacle avoidance environments,and the obstacle avoidance path is shorter.关键词
机器人/Kinect传感器/激光雷达/地图构建/模糊PID控制器Key words
robot/Kinect sensor/lidar/map construction/fuzzy PID controller分类
信息技术与安全科学引用本文复制引用
郝世宇,王昆..基于激光雷达局部地图构建的机器人避障路径规划[J].现代雷达,2023,45(11):84-89,6.基金项目
山西省教育科学规划课题资助项目(GH-19279) （GH-19279）
