基于行为动力学的移动机器人安全导航方法

研究机器人行为动力学方法的导航问题,该方法在动态环境下存在碰撞危险。提出一种改进迭代最近点算法，可以在机器人导航过程中实时获取障碍物的位姿变化。根据位姿变化将障碍物分为静止障碍物、移动障碍物。结合环境信息的不完整性和运动障碍物速度信息，提出可感知速度障碍物（perceivable velocity obstacles， PVO）概念，该概念定义的障碍物是机器人感知障碍物区域沿其相对运动方向膨胀得到的避障区域，是一种虚拟障碍物。将PVO作为障碍物应用于行为动力学方法完成机器人导航控制。所提出的改进方法在不改变原有行为动力学方法的基础上，增加了安全导航功能，简单易用。仿真实例证实，在动态环境下，改进的行为动力学导航方法比经典的行为动力学导航方法更加安全。

Mobile robot safe navigation based on behavior dynamics

The robot navigation problem with behavior dynamics is researched, but there exists the risk of collision in dynamic environment. An improved iterative closest point method is proposed to obtain the posture change on obstacles in real time. The obstacles are divided into stationary obstacles and moving ones based on the information of the posture change. A novel concept of a perceivable velocity obstacle (PVO) is proposed, and a sort of virtual obstacle is defined, which is an expanded avoidance area along obstacle’s relative motion direction. PVO is regarded as an obstacle and is used in the behavior dynamics method to complete the control of r〖JP2〗obot’s navigation. The improved behavior dynamics method adds the security navigation function without modi〖JP〗fying the original method, so it is simple to put into use. The simulations demonstrate that the improved method is more security than the original method in dynamic environment.