CAJ | 학술논문

研究了移动机器人对运动障碍物的动态避碰.针对以往速度障碍法在动态避碰应用中存在的问题,制订了相应的改进方法.综合考虑障碍物速度的动态变化和碰掩时间、碰撞距离,在速度变化空间中,基于避碰行为动力学原理,设计了新的优化评价函数,采用双障碍物检测窗口进行动态避碰规划.仿真实验表明,该方法有效地克服了避碰规划的保守性,提高了机器人运动的安全性,并能实现对运动目标的及时追踪.
연구료이동궤기인대운동장애물적동태피팽.침대이왕속도장애법재동태피팽응용중존재적문제,제정료상응적개진방법.종합고필장애물속도적동태변화화팽엄시간、팽당거리,재속도변화공간중,기우피팽행위동역학원리,설계료신적우화평개함수,채용쌍장애물검측창구진행동태피팽규화.방진실험표명,해방법유효지극복료피팽규화적보수성,제고료궤기인운동적안전성,병능실현대운동목표적급시추종.
The dynamic avoiding collision with moving obstacles of mobile robot is studied. For the existing problems of the previous velocity obstacle methods used for dynamic collision-avoidance, corresponding improvement methods are worked out. The velocity changes of obstacles, collision distance and collision time are considered synthetically. In the velocity change space, a new evaluation function based on collision-avoidance behavior dynamics is designed for the dy-namic collision-avoidance planning using two obstacle finding windows. Simulation experiments show that the proposed methods effectively overcome conservativeness of collision-avoidance planning, improve motion security of robot, and can be implemented to pursue the moving goal in time.