| 基于多传感器的移动机器人路径规划 |
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| 引用本文： | 刘先恩,赵学敏,李岩,郝伟,闫连柱,赵瑞超.基于多传感器的移动机器人路径规划[J].计算机工程,2008,34(8):213-215. |
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| 作者姓名： | 刘先恩 赵学敏 李岩 郝伟 闫连柱 赵瑞超 |
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| 作者单位： | 1. 南开大学自动化系,天津,300071
2. 南开大学电子信息科学与技术系,天津,300071 |
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| 基金项目： | 南开大学百项创新基金
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国家重点实验室基金 |
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| 摘 要： | 提出一种基于多传感器的移动机器人路径规划策略。利用声纳传感器和CCD摄像机对环境进行探测，得到关于障碍物的信息，通过一种简单、快速的数据融合算法计算出障碍物相对于机器人的位置坐标。采用切线法进行路径规划，实现了移动机器人在不确定环境下的路径规划，使机器人可以很好地避开障碍物，并以局部最优或次最优路径到达指定位置。实验结果验证了该路径规划算法的良好性能。
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| 关 键 词： | 移动机器人避障 多传感器 路径规划 |
| 文章编号： | 1000-3428(2008)08-0213-03 |
| 修稿时间： | 2007年6月30日 |
Path Planning for Mobile Robot Based on Multi-sensors |
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| LIU Xian-en,ZHAO Xue-min,LI Yan,HAO Wei,YAN Lian-zhu,ZHAO Rui-chao.Path Planning for Mobile Robot Based on Multi-sensors[J].Computer Engineering,2008,34(8):213-215. |
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| Authors: | LIU Xian-en ZHAO Xue-min LI Yan HAO Wei YAN Lian-zhu ZHAO Rui-chao |
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| Affiliation: | (1. Department of Automation, Nankai University, Tianjin 300071; 2. Department of Electronic Information Science and Technology, Nankai University, Tianjin 300071) |
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| Abstract: | This paper proposes a novel method for mobile robot path planning. The data gotten from eight sonar transmitters mounted in the robot front is fused with that gotten from a CCD camera mounted on the robot back deck to obtain the location of obstacles. The algorithm needs much less calculation than that just uses vision, and more accurate than that uses sonar only. According to the fused obstacles information, a local best path for the robot is planed using the tangent method. Experimental results show that the method has an effective performance. |
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| Keywords: | obstacles avoidance for mobile robot multi-sensors path planning |
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