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CautiousBug算法中机器人在沿障碍物边缘绕行时,基于螺线绕行规则不断地调整绕行方向以逃离局部极值点,但调整模式单一,缺乏灵活性。为使机器人更易快速逃离局部极值点,将目标点作为参考信息,在螺线绕行规则中添加了绕行方向调整条件,提出了改进的CautiousBug算法。每当机器人到达螺线绕行规则中的绕行方向调整点时,都要根据绕行方向调整条件来判定是调整绕行方向还是继续朝原方向递进绕行,最终使机器人向更靠近目标点的方向绕行。根据CautiousBug算法中机器人成功逃离局部极值点的条件,添加的绕行方向调整条件可使机器人更易快速逃离局部极值点。仿真结果验证了该算法的有效性。
In the CautiousBug algorithm, when the robot travels along the edge of an obstacle, the robot continuously adjusts the direction of winding to escape the local extreme point based on the spiraling rule, but the adjustment mode is single and lacks flexibility. In order to make the robot flies away from the local extremum more easily and quickly, the target point is taken as the reference information, and the circumventing direction adjustment condition is added to the helical winding rule. An improved CautiousBug algorithm is proposed. Whenever the robot arrives at the winding direction of the spiral rule, it is necessary to determine whether to adjust the winding direction or continue to wrap forward toward the original direction according to the adjustment direction of the winding direction, and finally make the robot move closer to the target point The direction of the bypass. According to the CautiousBug algorithm, the robot successfully escapes from the local extremum point. The added bypass direction adjustment conditions make it easier for the robot to escape the local extremum point quickly. Simulation results verify the effectiveness of the algorithm.