摘要
针对机器人全局移动路径上出现动态障碍物,影响其安全运动问题,提出了一种随机障碍物环境下的改进粒子群(PSO)最优路径规划方法。目的是保证机器人沿全局路径移动,并能躲避随机障碍物。通过Dijkstra算法规划全局路径,并利用改进的PSO算法进行全局路径优化,获得最短运动路径;进一步,利用动态窗口方法避开随机障碍物,并使机器人返回规划的全局路径,降低重新规划路径的计算成本;仿真对比分析和实验研究结果表明,所提出的路径规划方法能保障移动机器人避开随机障碍物并在规划的全局路径上安全运动。
This paper presents an optimal path planning method in the environment of random obstacles to solve the problem that dynamic obstacles appear on the global path of the robot and affect its safe movement.The purpose is to ensure that the robot can move along the global path and avoid random obstacles.The Dijkstra algorithm is used to plan the global path,and the improved particle swarm algorithm is used to optimize the global path to obtain the shortest path.Furthermore,the dynamic window algorithm is used to avoid random obstacles and make the robot return to the planned global path,so as to reduce the calculation cost of re-planning path.Simulation and experimental results show that the proposed path planning method can ensure the mobile robot to avoid random obstacles and move safely on the planned global path.
作者
党博宇
李海燕
DANG Boyu;LI Haiyan(School of Information Science and Engineering,Northeastern University,Shenyang 110819,China;School of Computer Science and Engineering,Northeastern University,Shenyang 110819,China)
出处
《组合机床与自动化加工技术》
北大核心
2024年第2期71-74,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(61903261)
辽宁省自然科学基金项目(2022-MS-274)。
关键词
最优路径规划
改进粒子群算法
动态窗口法
随机障碍物
optimal path planning
improved particle swarm optimization
dynamic window
random obstacle
作者简介
党博宇(2004-),男,本科生,研究方向为机器人路径规划与控制技术,E-mail:dby0601@163.com;通信作者:李海燕(1979-),女,副教授,博士,研究方向为机器人控制技术,E-mail:lihaiyan200503@163.com。
