本文選題：移動機器人　切入點：激光雷達　出處：《控制與決策》2017年08期 　論文類型：期刊論文

【摘要】：激光雷達以其高的角度和距離分辨率被廣泛地應用于移動機器人的障礙規(guī)避,但其固有的探測特性易使機器人陷入V型障礙陷阱,并增大路徑代價.為此,通過深入分析激光雷達精度與距離的特性關系,提出按照探測精度將探測區(qū)域劃分為模糊規(guī)避區(qū)、精確規(guī)避區(qū)和應急規(guī)避區(qū),進而建立一種分層障礙規(guī)避方法.為模糊規(guī)避區(qū)設計神經(jīng)網(wǎng)絡障礙規(guī)避算法,同時在精確規(guī)避區(qū)采用邊界點追蹤法避撞.仿真實驗表明,所提出方法相較于傳統(tǒng)的激光雷達避撞方法,不僅能夠使機器人避免誤入V型陷阱,而且可以產(chǎn)生更小的路徑代價.
[Abstract]:Lidar is widely used in mobile robot for its high angle and range resolution, but its inherent detection characteristics easily make the robot fall into V-type obstacle trap and increase the path cost. Based on the analysis of the characteristic relationship between laser radar precision and range, it is proposed that the detection area be divided into fuzzy circumvention region, precise circumvention area and emergency circumvention area according to the detection accuracy. Then a layered obstacle avoidance method is established. The neural network obstacle avoidance algorithm is designed for the fuzzy circumvention area. At the same time, the boundary point tracking method is used to avoid collision in the precise circumvention area. The simulation results show that, Compared with the traditional laser radar collision avoidance method, the proposed method can not only avoid the robot from falling into V trap, but also produce a lower path cost.
【作者單位】： 空軍工程大學航空航天工程學院;
【基金】：國家自然科學基金項目(61503405,61573373)
【分類號】：TP242
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本文編號：1621765