基于激光测距仪的移动机器人避障新方法

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徐玉华, 张崇巍, 徐海琴. 基于激光测距仪的移动机器人避障新方法[J]. 机器人, 2010, 32(2): 179-183.. XU Yuhua, ZHANG Chongwei, XU Haiqin. A New Obstacle Avoidance Method for Mobile Robot Based on Laser Range Finder. ROBOT, 2010, 32(2): 179-183..

摘要针对向量场直方图（VFH）算法对阈值敏感的问题，基于激光测距仪提出一种通过自适应调节阈值求可行方向的移动机器人实时避障算法．对于给定的一组阈值，用其中的每个阈值求可行方向，在获得的接近目标方向的所有可行方向中，选取最大阈值所对应的方向作为机器人的参考行驶方向．根据当前行驶方向与参考行驶方向之间的偏差和所选阈值的大小对线速度进行限制．在ASR机器人上进行实验的结果表明，当最大运行速度设为0.8m/s时，机器人能够以0.61m/s的平均速度安全平滑地通过障碍区．

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关键词 ：移动机器人, 避障, 激光测距仪, 自适应阈值, 可行方向

Abstract：Aiming at the problem that vector field histogram (VFH) method is sensitive to threshold, a new real-time obstacle avoidance method which adjusts threshold adaptively to find feasible directions is developed for mobile robots based on laser range finder (LRF). Every threshold in a set of thresholds given in advance is used to find feasible directions. The one with maximal threshold in all feasible directions which are close to the goal heading is considered as reference motion direction of the robot. The linear velocity is limited according to the error between the current and the referenced motion directions and the threshold selected. The experimental results show that the robot ASR could traverse the corridor with obstacles safely and smoothly at an average speed of 0.61 m/s when the maximum speed of the robot is set to 0.8 m/s.

Key words： mobile robot obstacle avoidance laser range finder adaptive threshold feasible direction

收稿日期: 2009-04-08 录用日期: 2009-10-11

TP24

基金资助:先进数控技术江苏省高校重点建设实验室基金资助项目（KXJ07127）

通讯作者: 徐玉华 E-mail: robot802@gmail.com

作者简介: 徐玉华（1985- ），男，博士生．研究领域：移动机器人定位、导航．
张崇巍（1945– ），男，教授，博士生导师．研究领域：可再生能源利用，特种电源，网络控制技术与自动化仪表等．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I2/179

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