基于行为的实时路径规划

针对室内移动机器人导航要求,开发了以二维激光雷达作为探测环境的传感器,基于4个反应式行为,设计了一种简单的实时路径规划算法.避障行为使机器人穿过狭小通道,或者在某些障碍物环境下绕出狭窄区域;接近行为使机器人顺着障碍物前进直到开阔地带;搜寻行为使机器人不断朝向目标运动;线性行为使机器人到达目标点.机器人表现出很强的路径寻找能力,并且不需要定位信息.仿真实验表明该算法速度快,实时性好,路径平滑无震荡,实现了有效避障.

A Behavior-based Real-time Path Planning for Mobile Robot

To the indoor mobile robot navigation requirements,a simple real-time path planning method based on four stimulate-action behaviors is designed,which takes two-dimensional laser radar as sensor to detect the environment.The obstacle-avoidance behavior role is to cause the robot to pass through the narrow and small channel,or escape from the narrow region under certain obstacle environment.The obstacle-approaching behavior role is to move the robot along the obstacle until the open area.The path-searching be...