| 一种考虑机器人尺寸约束的动态窗避障方法 |
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| 引用本文： | 梁山,刘娟,鲜晓东.一种考虑机器人尺寸约束的动态窗避障方法[J].控制工程,2011,18(6):872-876. |
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| 作者姓名： | 梁山 刘娟 鲜晓东 |
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| 作者单位： | 重庆大学 自动化学院,重庆,400044 |
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| 基金项目： | 重庆市科委资助项目(CSTC2009AB2139); “211工程”三期建设(S-09108) |
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| 摘 要： | 针对太部分反应式避障算法未考虑机器人尺寸的束导致机器人无法通过障碍物间可行通道的问题,提出了一种复杂环境下考虑机器人尺寸约束的动态窗避障方法.利用激光雷达提供的精确测距信息,通过探索机器人运动前方的可通行区域,避免陷入“U”型等局部最小区域；以障碍物间可行通道的宽度与机器人自身尺寸间的关系作为新的引导,构造目标函数,提...
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| 关 键 词： | 避障 尺寸约束 动态窗法 移动机器人 激光雷达 |
A Dynamic Window Approach to Collision Avoidance Considering Robot Size Constraint |
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| LIANG Shan
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LIU Juan
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XIAN Xiao-dong.A Dynamic Window Approach to Collision Avoidance Considering Robot Size Constraint[J].Control Engineering of China,2011,18(6):872-876. |
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| Authors: | LIANG Shan LIU Juan XIAN Xiao-dong |
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| Affiliation: | LIANG Shan,LIU Juan,XIAN Xiao-dong(College of Automation,Chongqing University,Chongqing 400044,China) |
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| Abstract: | To the problem that most reactive obstacle avoidance algorithms without considering the robot size constraints,could not nake the robot pass through the feasible passage between obstacles,a dynamic window approach with considering the robot size constraint in troublesome scenarios is presented.The main idea is to explore the free space of motion ahead by laser radar for avoiding to get stuck in U type local minima area.An objective function is constructed to improve the decision-making ability of passing th... |
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| Keywords: | obstacle avoidance size constraint dynamic window approach mobile robot laser radar |
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