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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。
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.
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图 1 移动机器人在人工势场中受力示意图
Figure 1. Schematic diagram of forces on mobile robot in artificial potential field
图 7 水流场坐标系下的斥力场
Figure 7. Repulsive force field in water flow field based coordinate system
图 13 世界坐标系下x、y轴方向的位移与速度
Figure 13. Displacement and velocity in the direction of x and y axis in world coordinate system
表 1 方法参数
Table 1. Algorithm parameters
参数 数值 引力场比例系数katt 15 斥力场比例系数krep 25 障碍物作用半径d0/cm 30 优化参数n 2 步长l 3 
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表 2 V-REP仿真参数
Table 2. V-REP simulation parameters
参数 数值 katt 20 krep 3 d0/m 0.6 n 5 vmax/(m·s-1) 5 av 0.1 ωmax/(rad·s-1) 0.9 αω 0.4 注：vmax为移动机器人最大运动速度；av为移动机器人加速度系数；ωmax为移动机器人最大转弯角速度；αω为移动机器人角加速度系数。
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表 3 实验参数
Table 3. Parameters in experiment
参数 数值 katt 15 krep 5 d0/m 0.5 n 2 vmax/(m·s-1) 0.2
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