摘要
当前移动机器人在二维未知环境中的避障与路径规中,采用一次规划策略,会导致控制算法收敛速度较慢、路径规划能力较弱,运行效率过低等问题,为此提出二维未知环境下移动机器人二次规划避障路径控制方法。使用栅格法描述移动机器人的未知工作环境,在栅格地图上对其移动避障路径进行初步规划,将所有初步规划的避障路径作为蚁群算法二次规划问题的初始解;考虑机器人在转弯和平坦路面上的运动状态对路径的影响,将其作为二次规划的约束条件,以保证在未知环境下,生成的控制路径符合机器人的运动能力和限制;通过蚂蚁的移动和信息素的更新来逐步优化路径,直到找到最优的避障控制路径。实验结果表明:该方法具有较高的收敛速度、搜索效率及路径规划能力。
The current use of a one⁃time planning strategy in obstacle avoidance and path planning for mobile robots in two⁃dimensional unknown environments can lead to slow convergence speed,weak path planning ability,and low operational efficiency of control algorithms.Therefore,a quadratic planning obstacle avoidance path control method for mobile robots in two⁃dimensional unknown environments is proposed.Using the grid method to describe the unknown working environment of mobile robots,preliminary planning of their obstacle avoidance paths is carried out on the grid map,and all preliminarily planned obstacle avoidance paths are used as the initial solutions of the ant colony algorithm quadratic programming problem.The impact of the robot's motion state on the path during turns and flat roads are considered as a constraint condition for quadratic programming to ensure that the generated control path conforms to the robot's motion ability and limitations in unknown environments.The path is subsequently optimized through ant movement and pheromone updates until the optimal obstacle avoidance control path is found.The experimental results show that this method has high convergence speed,search efficiency,and path planning ability.
作者
罗丽霞
常金勇
LUO Lixia;CHANG Jinyong(Linfen Vocational and Technical College,Linfen Shanxi 041000,China;Xi’an University of Architecture and Technology,Xi’an 710055,China)
出处
《机械设计与研究》
CSCD
北大核心
2024年第1期97-101,108,共6页
Machine Design And Research
基金
2022年陕西省科技厅自然科学基金项目(2022JM-365)
山西省教育科学“十四五”规划2021年度课题(SZ-21109)。
关键词
未知环境
移动机器人
路径规划
栅格法
运动状态分析
蚁群算法
unknown environment
mobile robots
path planning
grid method
analysis of motion status
ant colony
作者简介
罗丽霞(1975-),女,副教授,硕士,主要研究方向:计算机应用,已发表论文10篇。E⁃mail:sfdfd1432@163.com。
