动态环境下改进人工势场法的仓储机器人自主导航系统研究

为了解决仓储机器人在全动态环境中的自主导航问题，在分析自主导航技术基础上建立了机器人和动态障碍物的数学模型，搭建了以二维激光雷达为主的环境感知平台，提出了一种改进的人工势场法。在传统人工势场法中同时引入相对速度和相对加速度因素得到改进的人工势场模型，实现机器人在全动态环境中的自主移动。设计了无障碍物和多动态障碍物两种移动环境。经仿真验证，应用改进的人工势场法进行路径规划能高效地避开动态障碍物、跟踪动态目标，且运动路径光滑。

Research on autonomous navigation system of warehousing mobile robot based on improved artificial potential field method in dynamic environment

In order to solve the problems of warehousing mobile robots autonomous navigation in full dynamic environment, this paper established a mathematical model of robots and dynamic obstacles, designed a platform of environmental awareness based on 2-dimensional lidar, and proposed an improved artificial potential field method. In the traditional artificial potential field method, it introduced the relative speed and relative acceleration to then obtain an improved artificial potential field model, which could realize the autonomous movement in full dynamic environment. It is verified that the improved artificial potential field method is used to plan path, which can effectively avoid the dynamic obstacles and track the dynamic target, and the movement path is smooth.