移动机器人动态路径规划方法的研究与实现

针对在未知动态障碍物存在且目标点移动的环境下，采用人工势场法规划路径时斥力影响半径往往大于障碍物的半径从而导致动态障碍物与机器人发生碰撞的问题，提出非完全等待策略与Morphine算法相结合的改进人工势场法动态路径规划策略。当动态障碍物与机器人发生侧面碰撞时采用非完全等待策略；当动态障碍物与机器人发生迎面碰撞时采用Morphine算法局部规划路径；同时引入滚动窗口理论提高躲避动态障碍物的精确度。通过仿真实验，与传统人工势场作对比，提出的改进算法在发生侧面碰撞时要缩短12步，在发生迎面碰撞时要缩短6步，由此可得提出改进算法在路径平滑性和规划步数方面效果更优。

Research and implementation of mobile robot path planning method

In the environment with unknown dynamic obstacle moving and target point, the radius of the repulsive force is often larger than the radius of the obstacle when the path is planned by the artificial potential field method, which leads to the collision of the dynamic obstacle with the robot. An improved dynamic path planning strategy of artificial potential field based on Morphine algorithm and non-completely waiting strategy was proposed. The non-completely waiting strategy was adopted when the dynamic obstacle collided with the robot on a side. The Morphine algorithm was used to localize the path when the dynamic obstacle collided with the robot face to face. Moreover, the rolling window theory was introduced to improve the accuracy of avoiding dynamic obstacles. Through the simulation tests, compared with the traditional artificial potential field, the proposed algorithm is shortened by 12 steps in the event of a side collision and 6 steps in the event of a face-to-face collision. Therefore, the improved algorithm is more effective in path smoothness and planning steps.