基于实时滚动亚目标的遥控移动机器人局部路径规划方法

在机器人前部一定范围内虚拟出8个亚目标,采集前部8个超声波传感器数据,根据工作场所障碍物分布情况,分析指定范围内有无障碍物,结合机器人航向偏离目标的角度,选择最佳亚目标.若机器人航向在一个规定的小角度范围内对准目标且机器人正前方无障碍物,机器人作直线运动;其他情况下,机器人以圆弧接近最佳亚目标.在运动过程中,最佳亚目标滚动更新,运动轨迹随之变化.该方法克服了机器人避障时速度慢的缺点,避障流畅,路径平滑且能以较短路径接近目标,实用快捷.

Local path planning method for remote-controlled mobile robots based on real time rolling subgoals

The local path planning method is used to solve the delay during communication with remote-controlled mobile robots.The best subgoal is selected from eight virtual subgoals in a certain range in front of a robot according to the angle between the direction of the mobile robot navigation and the direction from the robot to the goal and the distribution of obstacles in a certain region of the measure range of eight ultrasonic sensors.The robot moves along a line under the circumstance that it aims at the goal in a small angle and there is no obstacle just before it.Otherwise,it moves toward the best subgoal along a round curve.During the motion of the robot,the best subgoal is refreshed according to a rolling mode and therefore the track is changed.The shortcoming of slowness is therefore overcome when the robot avoids obstacles,and it can approach the goal quickly along smoother and shorter path.