| Citation: | ZHANG Dazhi, LIU Wanhui, MIAO Cunxiao, et al. Dynamic obstacle avoidance method for omnidirectional mobile robots[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(6): 1115-1123. doi: 10.13700/j.bh.1001-5965.2020.0155(in Chinese)
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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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