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研究移动机器人在动态环境中的导航与避障问题。为提高规划的实时性,提出了基于规则的规划方法,将多移动障碍环境机器人的运动规划分解为相对简单的单移动障碍运动规划,利用最优控制来实现单障碍的最优避障,并用智能搜索方法解决了移动机器人在多移动障碍环境中的实时运动规划问题。仿真实例表明了该方法的有效性。
Research on mobile robot navigation and obstacle avoidance in dynamic environment. In order to improve the real-time planning, a rule-based planning method is proposed, which decomposes the motion planning of multi-obstacle environmental robot into a relatively simple motion planning with single-movement obstacle and uses the optimal control to achieve the optimal obstacle avoidance with single obstacle. The intelligent search method solves the problem of real-time motion planning of mobile robots in multi-mobile obstacle environment. The simulation example shows the effectiveness of the method.