基于速度变化空间的移动机器人动态避碰规划

Abstract

研究了移动机器人对运动障碍物的动态避碰.针对以往速度障碍法在动态避碰应用中存在的问题,制订了相应的改进方法.综合考虑障碍物速度的动态变化和碰撞时间、碰撞距离,在速度变化空间中,基于避碰行为动力学原理,设计了新的优化评价函数,采用双障碍物检测窗口进行动态避碰规划.仿真实验表明,该方法有效地克服了避碰规划的保守性,提高了机器人运动的安全性,并能实现对运动目标的及时追踪.

The dynamic avoiding collision with moving obstacles of mobile robot is studied.For the existing problems of the previous velocity obstacle methods used for dynamic collision-avoidance,corresponding improvement methods are worked out.The velocity changes of obstacles,collision distance and collision time are considered synthetically.In the velocity change space,a new evaluation function based on collision-avoidance behavior dynamics is designed for the dynamic collision-avoidance planning using two obstacle finding windows.Simulation experiments show that the proposed methods effectively overcome conservativeness of collision-avoidance planning,improve motion security of robot,and can be implemented to pursue the moving goal in time.