一种考虑安全的移动机器人矢量场路径规划算法

提出了一种考虑安全的移动机器人矢量场路径规划算法,环境的矢量场模型体现了路径对安全的不同要求。通过调节模型参数可以规划得到安全和长度两个标准下的满意路径,此路径既不会太接近障碍,也不会太长。所提出模型计算简单,计算量与运动空间障碍的个数成正比。算法鲁棒性强,除了固定环境,还适合用来进行动态环境下的路径规划。仿真结果验证了算法的有效性。

An Algorithm for Mobile Robot Path Planning Based on a Vector Field with Safety Consideration

An algorithm is proposed for mobile robot path planning based on a vector field. The field model of the obstacle environment expresses the safety requirement of the path, which is incorporated into the criteria of the path not only because of the uncertainties in the robot dynamics during path execution, but also because of the inaccuracies in the geometric modeling of obstacles. Through modulating the parameters of the model, a comfortable path is planned, which does not suffer from the "too close" or the "too far" problems. The proposed model is computationally simple, the computational complexity is O(N), where N represents the number of the obstacles. Also it is appropriate for path planning in dynamical environments with moving goal and moving obstacles. The effectiveness is demonstrated through simulation and comparison studies.