基于速度变化空间的移动机器人动态避碰规划

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朱齐丹, 仲训昱, 张智. 基于速度变化空间的移动机器人动态避碰规划[J]. 机器人, 2009, 31(6): 539-547.. ZHU Qidan, ZHONG Xunyu, ZHANG Zhi. Dynamic Collision-avoidance Planning of Mobile Robot Based on Velocity Change Space. ROBOT, 2009, 31(6): 539-547..

摘要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．

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	朱齐丹
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关键词 ：移动机器人, 运动规划, 动态避碰, 速度障碍

Abstract：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.

Key words： mobile robot motion planning dynamic collision avoidance velocity obstacle

收稿日期: 2009-01-12

TP24

基金资助:国家“211工程”建设资助项目（智能移动机器人研究）

作者简介: 朱齐丹（1963- ），男，博士，教授，博士生导师．研究领域：智能控制理论及应用，智能机器人技术等．
仲训昱（1980– ），男，博士生．研究领域：机器人技术．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I6/539

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