西安电子科技大学学报（自然科学版）2024，Vol.51Issue(2)：84-95,12.DOI:10.19665/j.issn1001-2400.20230701
一种添加振荡抑制的移动机器人避障算法
Obstacle avoidance algorithm for the mobile robot with vibration suppression
摘要
Abstract
Aiming at the problem that dynamic obstacle avoidance algorithms for indoor mobile robots are prone to local dead zones,an improved vector field histogram(VFH)dynamic obstacle avoidance algorithm is proposed.First,according to traditional VFH-class algorithms,a path lenght cost and an evaluation index of trough width are introduced to the candidate evaluation function of the trough to reduce the probability of the mobile robot falling into local dead zones and to improve path smoothness.Second,in view of the problem that local obstacle avoidance algorithms are limited to local environment and oscillate back and forth near obstacles easily,an oscillation evaluation function is introduced with an oscillation evaluation curve drawn by calculating the weighted Euclidean distances from the pose of the mobile robot to the starting and ending points.Automatic peak detection and a first-order forward difference curve are employed to obtain the oscillation positions,and then the oscillation suppression is taken to make the mobile robot escape the local dead zones.Simulation results show that within 100 groups of simulation scenarios,the number of scenarios wherein the improved VFH algorithm falls into the local dead zones is reduced by 70 groups,the average number of planning iterations is decreased by 32.3 times,the average path length is reduced by 26.2%,and the average cumulative turning angle is declined by 79.6%.The algorithm can effectively reduce the cost of the local obstacle avoidance,improve the path smoothness and reduce the probability of falling into the dead zones in local special environment.关键词
避障/VFH/局部死区/振荡曲线Key words
obstacle avoidance/VFH/local dead zone/oscillation curve分类
信息技术与安全科学引用本文复制引用
吴庭明,吴宪云,邓亮,李云松..一种添加振荡抑制的移动机器人避障算法[J].西安电子科技大学学报（自然科学版）,2024,51(2):84-95,12.基金项目
中国博士后科学基金(2013M540735) （2013M540735）
国家自然科学基金(61901388,61301291,61701360) （61901388,61301291,61701360）
111工程(B08038) （B08038）
陕西省科技创新团队、中央高校基本科研业务费、陕西省高校青年创新团队资助支持 （）
