[1]赵开新,王东署..未知环境中自主机器人的路径规划研究[J].郑州大学学报(工学版),2013,34(05):74-79.[doi:10.3969/j.issn.1671-6833.2013.05.016]
　ZHAO Kai-xin,WANG Dong-shu.Research of Autonomous Mobile Robot Path Planning in Unknown Complex Environment[J].Journal of Zhengzhou University (Engineering Science),2013,34(05):74-79.[doi:10.3969/j.issn.1671-6833.2013.05.016]
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未知环境中自主机器人的路径规划研究()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
34卷
期数:
2013年05期
页码:
74-79
栏目:
出版日期:
2013-09-10

文章信息/Info

Title:
Research of Autonomous Mobile Robot Path Planning in Unknown Complex Environment
作者:
赵开新; 王东署.
河南机电高等专科学校计算机科学与技术系,河南新乡,453002, 郑州大学电气工程学院,河南郑州,450001
Author(s):
ZHAO Kai-xin1; WANG Dong-shu2
1. Department of Computer Science & Technology ，Henan Mechanical and Electrical Engineering College，Xinxiang，453002;2.Electrical Engineering School of Zhengzhou University，Zhengzhou , 450001
关键词:
自主机器人;  路径规划;  能量损耗;  数字高度图;  数字梯度图;  姿态稳定
Keywords:
Autonomous Robot; Path Planning; Energy Consumed;  Digital Height Map; Digital GradientMap; Attitude Stability
分类号:
TP242
DOI:
10.3969/j.issn.1671-6833.2013.05.016
摘要:
未知复杂环境中自主机器人合理的路径规划是进行探索任务的前提.传统的路径规划方法侧重于研究从起始点到目标点的无碰路径,很少考虑机器人自身运动的平稳性.研究了室外未知环境中考虑机器人姿态稳定性以及能量损耗的路径规划方法,该方法分三步:(1)梯度计算,计算运动区域的梯度；(2)节点探测,运动区域被划分为平坦区域和非平坦区域,辨识每个平坦区域的中心位置,即节点；(3)路径评估,根据提出的评估函数,规划出从当前位置经过中间节点到目标点的最优路径.结合机器人的动力学特性,利用反演控制,设计了合适的控制率,保证了机器人的平稳运动.通过和传统规划方法获得的路径比较,仿真验证了所提方法的有效性.
Abstract:
Suitable path planning is a precondition of the autonomous robot exploration in outdoor unknowncomplex environments. The conventional path planning methods focus particularly on planning an un - colli-ding path from the start position to the goal position.Robot attitude stability and its dynamics are seldom con-sidered. A new path planning approach considering the robot ’s attitude stability and energy consumed in out-door complex environment is proposed,which consists of three steps: ( 1 ) gradient calculation,the gradientsof the rough terrain are calculated;(2) nodes detection,the terrain is divided into flat regions and rough re-gions according to a height threshold;(3 ) path evaluation，the optimal path from current position to goal viaintermediate nodes is planned based on the cost evaluation function. Furthermore,robot dynamic characteris-tics are analyzed through back - stepping control, suitable control law is proposed which ensures the stable mo-tion of robot. Compared with the conventional approach,the effectiveness of the proposed method is demon-strated through simulations.

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更新日期/Last Update: 1900-01-01