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针对移动机器人在室内定位的特点,在结构化环境下,开发了机器人路径规划系统。在阐述了全局地图构建方法基础上,根据移动机器人的实际运行环境采用栅格法构建了环境地图。利用A*算法进行初步路径规划,其不足之处是路径规划数据中包含了所有规划点的坐标,冗余点较多,且移动机器人无法在拐点处调整自身姿态。针对这些不足,提出了能够计算出拐点、旋转方向及旋转最小角度的A*路径规划改进算法并进行了实验。移动机器人定位实验结果表明:利用改进后的A*路径规划算法不仅简化了路径,而且在拐点处移动机器人能够调整自身姿态,可以较好地满足室内移动机器人全自主运动的要求。
In view of the characteristics of mobile robot positioning in the interior, a robot path planning system has been developed in a structured environment. On the basis of expatiating the method of constructing the global map, an environment map is constructed by using the grid method according to the actual running environment of the mobile robot. The disadvantage of using the A * algorithm for initial path planning is that the path planning data contains the coordinates of all the planning points with more redundant points and the mobile robot can not adjust its posture at the inflection point. Aiming at these shortcomings, an improved algorithm of A * path planning that can calculate the inflection point, rotation direction and the minimum angle of rotation is proposed and experimented. The experimental results of mobile robot positioning show that using the improved A * path planning algorithm not only simplifies the path but also allows the mobile robot to adjust its posture at the inflection point, which can better meet the requirement of autonomous movement of indoor mobile robots.