全局环境未知时机器人导航和避障的一种新方法

A NOVEL METHOD OF NAVIGATION AND OBSTACLE AVOIDANCE FOR MOBILE ROBOT IN GLOBAL UNKNOWN ENVIRONMENT

  • 摘要: 研究了全局环境未知情况下的移动机器人实时导航问题.将栅格法描述环境与基于滚动窗口的路径规划相结合,提出了一种新的移动机器人导航方法.将超声传感阵列探测到的环境信息以基于栅格的概率值进行表示,利用不确定性证据推理对其进行数据融合,得到机器人的局部环境信息;在此基础上,采用基于滚动窗口的方法进行机器人路径规划,实现机器人的实时导航.仿真与实验结果表明了该方法的有效性.

     

    Abstract: Real time navigation of mobile robot in globally unknown environment is studied. A new method for mobile robot's navigation is presented with the combination of describing environment based on grids and path planning based on rolling windows. The environment information detected by sonar is represented in the form of probability based on grids, and is fused by evidential reasoning with uncertainty based on Dempster-Shafer theory to describe the local environment around the mobile robot. And then, path planning based on rolling windows is implemented to realize real time navigation of mobile robot. Simulation and experiment results show that the method is effective.

     

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