基于虚拟障碍物的移动机器人路径规划方法

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叶炜垚, 王春香, 杨明, 王冰. 基于虚拟障碍物的移动机器人路径规划方法[J]. 机器人, 2011, 33(3): 273-278,286.. YE Weiyao, WANG Chunxiang, YANG Ming, WANG Bing. Virtual Obstacles Based Path Planning for Mobile Robots. ROBOT, 2011, 33(3): 273-278,286..

摘要针对城市道路环境，将全局路径规划方法和局部路径规划方法相结合，提出了基于虚拟障碍物的路径规划方法．该方法首先采用A^*算法得到一条全局最优的车道路径，然后根据全局最优的路径生成虚拟障碍物，最后将虚拟障碍物与传感器探知的实际障碍物融合，采用改进的向量直方图方法进行局部路径规划．该方法不仅能够充分利用已知环境信息生成全局最优路径，而且能够实时处理随机动态障碍物，真实环境下的实验结果表明本文方法的有效性和可靠性．

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关键词 ：移动机器人, 虚拟障碍物, 路径规划, 城市道路环境

Abstract：A virtual obstacles based path planning method for mobile robot in urban road environment is presented.It's based on both the benefits of global and local path planners.Firstly,it uses A^* algorithm to produce a global optimal path.Secondly,virtual obstacles are generated according to the global path.Finally,by fusing virtual and actual detected obstacles,the local path is planned based on the improved vector field histogram method.This method can not only fully utilize environment information to get the global optimal path,but also avoid the stochastic obstacles on the road in real-time. Practical experiments illustrate the effectiveness and robustness of this method.

Key words： mobile robot virtual obstacle path planning urban road environment

收稿日期: 2010-08-20 录用日期: 2011-01-10

TP41

基金资助:上海市科委世博科技专项资助项目（10dz0581100）；教育部博士点基金资助项目（20070248097）

通讯作者: 杨明 E-mail: mingyang@sjtu.edu.cn

作者简介: 叶炜垚（1983- ），男，硕士．研究领域：移动机器人路径规划，定位及导航．王春香（1967- ），女，博士，副教授．研究领域：机器人，机电一体化，工业机器人及其应用技术．杨明（1975- ），男，博士，副教授．研究领域：机器人，智能车定位及导航，机器视觉与图像处理．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I3/273

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