马兆青, 袁曾任. 基于栅格方法的移动机器人实时导航和避障[J]. 机器人, 1996, 18(6): 344-348.
引用本文: 马兆青, 袁曾任. 基于栅格方法的移动机器人实时导航和避障[J]. 机器人, 1996, 18(6): 344-348.
MA Zhaoging, YUAN Zengren. REAL TIME NAVIGATION AND OBSTACLE AVOIDANCE BASED ON GRIDS METHOD FOR FAST MOBILE ROBOT[J]. ROBOT, 1996, 18(6): 344-348.
Citation: MA Zhaoging, YUAN Zengren. REAL TIME NAVIGATION AND OBSTACLE AVOIDANCE BASED ON GRIDS METHOD FOR FAST MOBILE ROBOT[J]. ROBOT, 1996, 18(6): 344-348.

基于栅格方法的移动机器人实时导航和避障

REAL TIME NAVIGATION AND OBSTACLE AVOIDANCE BASED ON GRIDS METHOD FOR FAST MOBILE ROBOT

  • 摘要: 本文对移动机器人的实时导航和避障设计了基于栅格(Grids)的控制算法,用该算法控制清华大学计算机系研制的THMR-Ⅱ移动机人能在未知的环境中,实时检测出障碍物,并实时规划出合理路径,稳定、平滑连续地向着目标行驶.最后给出了THMR-Ⅱ在几种典型环境中行驶的实验结果.

     

    Abstract: A real time navigation and obstacle avoidance method based on grids for fast mobile robot has been developed and implemented on our mobile robot(THMR-Ⅱ). This method allows the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target in smooth, stabled and continuous motion. Experiment results from mobile robot THMR-Ⅱ traversing obstacle courses demonstrate the effectiveness of the method in typical environment.

     

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