未知环境下基于约束点的移动机器人路径规划

针对未知环境中障碍物种类多样性和位置不确定性的特点,提出了基于约束点的路径规划方法。首先对机器人在未知环境中检测到的局部障碍物信息进行分类和几何特征属性描述,得其约束点信息,然后引入改进后的A*算法,将其搜索范围局限于约束点上,计算约束点的评价函数值后得到子目标点,机器人到达子目标点后,若陷入死区,则采取回溯路径策略,重新选择子目标点,否则根据该点所属的障碍物种类采取跨越或绕行避障策略,最后移动机器人在未知环境中顺利到达目标点。仿真研究说明本文提出的路径规划方法具有可行性和有效性。

Constraint points based on route planning for mobile robots in unknown environments

Constraint-Point-based-on-Route-Planning method was proposed in this paper, according to the diversity and position-uncertainty of obstacles in unknown environments. Firstly, mobile robot get local obstacles ’ information, the constraint points were exracted by categorising obstacles and describing their geographical attributions. Secondly, improved A* algorithm was introduced, con-fined the search strategy to the constraint points of obstacles, found out the sub -goal by evaluation function. When robot moved to the sub-goal,if its current location was in "No-Path-Area ", robot would adopt the strategy of "Back-to-Original-Point " to find a new sub-goal, or robot would bypass or cross the obstacle, according to the category of the obstacle it belongs to. Finally, the mobile robot got to the goal-point successfully in unknown envreonmet. Simulations show that the method proposed in this paper is feasible and effective.