基于极限环导航方法的移动机器人动态避障路径规划

结合最小二乘法方法,提出一种新的极限环导航方法。它可以在诸如机器人足球比赛等高度动态环境中,为自主移动机器人进行很好地实时路径规划。首先运用最小二乘法方法得到赛球运动的直线轨迹模型,参照此模型构建出描述赛球运动趋势的椭圆极限环,然后从机器人位置向椭圆作切线,机器人以椭圆上的切点作为路径跟踪的目标点奔向椭圆;通过改变椭圆极限环的半径获得动态路径规划,最终完成目标拦截行为。这种方法将机器人直接奔向赛球的走行方式,改变为奔向赛球运动区域的走行方式;使得机器人在快速到达目标的同时具有很平滑的避障能力。仿真和试验都表明了这种方法在机器人足球比赛中的应用价值。

Dynamic Obstacle-avoidance Path Planning for Mobile Robot Based on Limit-cycle Navigation Method

A novel method for improving the dynamic effectiveness of in-time path planning of mobile robots is proposed.Firstly,the motion trajectory model of the ball is achieved based on least squares fit,and the ellipse limit-cycle presenting the motion of the ball is configured referring to the linear motion model.Then,the robot moves to the tangent point achieved by drawing the tangents from the robot position to the ellipse,and finally accomplish the intercepting behavior in the ellipse.This method changes the mode of robot directly moving to the ball into that of the robot moving to the moving zone of the ball,and enables the robot to avoid high-speed moving obstacles smoothly and reach the desired destination with very high speed.The effectiveness of the proposed method is verified by simulations and experiments in robot soccer competition.