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针对室内环境,选用角度势场法并加以改进作为避障策略,利用Pioneer3-AT机器人自带的声纳传感器为室内路径规划提供环境信息。角度势场法用阻力和引力分别描述障碍物和目标点对机器人的影响,在角度域中阻力和引力决定了移动机器人的运动策略。根据声纳传感器探测到的距离信息,结合室内机器人建立的坐标系,对角度势场法加以改进,解决了室内移动机器人避障问题。对算法进行了仿真和实验,证明了算法的可行性和有效性。
For the indoor environment, the angular potential field method is selected and improved as obstacle avoidance strategy. The sonar sensor of Pioneer3-AT robot is used to provide environment information for indoor path planning. Angle potential field method uses resistance and gravity to describe the impact of obstacles and target points on the robot respectively. In the angle domain, drag and gravity determine the movement strategy of mobile robot. According to the distance information detected by the sonar sensor and the coordinate system established by the indoor robot, the angle potential field method is improved to solve the obstacle avoidance problem of indoor mobile robots. The algorithm is simulated and tested, which proves the feasibility and effectiveness of the algorithm.