| 基于多行为融合的移动机器人路径规划方法 |
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| 引用本文： | 马家辰,张琦,马立勇,谢玮. 基于多行为融合的移动机器人路径规划方法[J]. 北京理工大学学报, 2014, 34(6): 576-581 |
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| 作者姓名： | 马家辰 张琦 马立勇 谢玮 |
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| 作者单位： | 哈尔滨工业大学航天学院,黑龙江,哈尔滨150006;哈尔滨工业大学(威海)信息与电气工程学院,山东,威海264209;哈尔滨工业大学航天学院,黑龙江,哈尔滨150006;哈尔滨工业大学(威海)信息与电气工程学院,山东,威海264209 |
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| 基金项目： | 山东省自然科学基金资助项目（ZR2011FM005） |
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| 摘 要： | 针对现有的移动机器人路径规划方法中存在的局部极小问题，提出了一种基于多行为融合的路径规划方法. 该方法定义3种机器人的基本行为并通过各行为间的切换完成路径规划任务. 其中，逃离局部极小行为利用尝试原则判断机器人是否落入局部极小陷阱，之后使用角度补偿原则逃离使机器人陷入局部极小陷阱的障碍物. 仿真结果和基于真实机器人平台的实验结果均证明本文方法较已有方法更具有可靠性以及适应性.
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| 关 键 词： | 多行为融合 局部极小 路径规划 移动机器人 |
| 收稿时间： | 2014-04-25 |
Multi-Behavior Fusion-Based Path Planning for Mobile Robot |
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| MA Jia-chen,ZHANG Qi,MA Li-yong and XIE Wei. Multi-Behavior Fusion-Based Path Planning for Mobile Robot[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 2014, 34(6): 576-581 |
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| Authors: | MA Jia-chen ZHANG Qi MA Li-yong XIE Wei |
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| Affiliation: | 1.School of Astronautics, Harbin Institute of Technology, Harbin, Heilongjiang 150006, China;Department of Information Science and Engineering, Harbin Institute of Technology at Weihai, Weihai, Shandong 264209, China2.School of Astronautics, Harbin Institute of Technology, Harbin, Heilongjiang 150006, China3.Department of Information Science and Engineering, Harbin Institute of Technology at Weihai, Weihai, Shandong 264209, China |
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| Abstract: | To solve the local minimum problem in existing path planning for mobile robot, a multi-behavior fusion approach for path planning was proposed. The proposed approach contains three kind basic behaviors which were designed for selecting the proper one to complete the mission of path planning. The behavior of escaping the local minimum can assess whether the robot is in the local minimum with the trial principle and employ the angle-compensation method to escape the obstacle with the local minimum. The results of simulation and experiment demonstrate the adaptability of proposed approach, being more reliable and extensive than some existing methods. |
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| Keywords: | multi-behavior fusion local minimum path planning mobile robot |
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