北京航空航天大学学报 ›› 2021, Vol. 47 ›› Issue (6): 1115-1123.doi: 10.13700/j.bh.1001-5965.2020.0155

• 论文 • 上一篇    下一篇

全向移动机器人动态避障方法

张大志1, 刘万辉1, 缪存孝1, 余远金2   

  1. 1. 北京科技大学 机械工程学院, 北京 100083;
    2. 北京理工大学 自动化学院, 北京 100081
  • 收稿日期:2020-04-21 发布日期:2021-07-06
  • 通讯作者: 余远金 E-mail:buaayyj@126.com
  • 基金资助:
    中央高校基本科研业务费专项资金(FRF-TP-17-052A1)

Dynamic obstacle avoidance method for omnidirectional mobile robots

ZHANG Dazhi1, LIU Wanhui1, MIAO Cunxiao1, YU Yuanjin2   

  1. 1. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China;
    2. School of Automation, Beijing Institute of Technology, Beijing 100081, China
  • Received:2020-04-21 Published:2021-07-06
  • Supported by:
    the Fundamental Research Funds for the Central Universities (FRF-TP-17-052A1)

摘要: 动态避障是全向移动机器人在复杂工作环境下不可或缺的能力。针对在复杂动态环境下传统人工势场法容易陷入局部极小点、目标点不可达和振荡等问题,提出了利用水流场的思想重新定义人工势场的斥力势场函数及其方向,改进方法在不增加计算量的情况下能够使机器人平滑且安全无碰撞到达目标点,实现避障过程。为了实现三维动态仿真,提出了一种基于V-REP与MATLAB的联合仿真方法,并结合改进人工势场法实现全向移动机器人的动态避障模拟,验证了方法的平滑性和可行性。将所提方法应用于实验室内真实场景,全向移动机器人成功实现了动态规避动作,验证了方法的实用性。

关键词: 全向移动机器人, 动态避障, 水流场, 人工势场法, 联合仿真

Abstract: Dynamic obstacle avoidance is an indispensable ability of omnidirectional mobile robots in complex working environments. The idea of water flow field is used to redefine the repulsive potential field function of artificial potential field and its direction, which solves the problems of traditional artificial potential field method, such as easily falling into local minimum point, inaccessible target point and oscillation. The improved algorithm can make the robot reach the target point smoothly and safely without increasing the amount of calculation, and realize the obstacle avoidance process. At the same time, in order to achieve three-dimensional dynamic simulation, a joint simulation method based on V-REP and MATLAB is proposed. By constructing a three-dimensional dynamic simulation environment, the dynamic obstacle avoidance simulation of omnidirectional mobile robot was realized by the proposed method combined with the improved artificial potential field method, and the smoothness and feasibility of the algorithm are verified. Finally, the algorithm was applied to the real scene in the laboratory, and the omnidirectional mobile robot successfully realized the dynamic avoidance action, which verifies the practicability of the algorithm.

Key words: omnidirectional mobile robot, dynamic obstacle avoidance, water flow field, artificial potential field method, joint simulation

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