一种全向移动机器人的动态避障方法

Dynamic obstacle-avoiding method of omnidirectional mobile robot

Abstract

The invention provides a dynamic obstacle-avoiding method. The dynamic obstacle-avoiding method is characterized in that aimed at defects of a reciprocal speed obstacle-avoiding algorithm, an obstacle-avoiding responsibility coefficient is set, risk factors are introduced according to different obstacles, phenomena of delayed obstacle avoidance and unnecessary obstacle avoidance caused in measuring errors in the reciprocal speed obstacle-avoiding algorithm are improved, and a planned obstacle-avoiding track is smoother. In an unknown environment without an external positioning system, a vehicle-mounted laser range finder is used for detecting obstacles and estimating moving speeds of the dynamic obstacles, and based on the provided obstacle-avoiding scheme, an omnidirectional mobile robot is enabled to avoid dynamic and static obstacles in the moving range.
本发明提供的动态避障方法针对互惠式速度避障算法的缺陷,设置了避障责任系数,并针对不同的障碍物引入风险因子,以改进互惠式速度避障算法中由于测量误差导致的避障不及时与多余避障的现象,并使规划的避障轨迹更为平滑。在没有外部定位系统的未知动态环境中,采用车载激光测距仪检测障碍物并估计动态障碍物的运动速度,并基于所提出的避障方案实现全向移动机器人自主躲避运动区间内的动态及静态障碍物。

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