CAJ | 학술논문

机器人避障问题一直是机器人应用中的热点和难点问题.为此采用了路径跟踪和VFH*相结合的方法实现机器人沿着预定路径前进中的避障问题.路径跟踪算法follow the carrot用来选取局部目标点.对于VFH*算法中存在的由于超声传感器的方向误差及对障碍物的扩展导致某些可行路径被忽略的情况进行了改进,在障碍物进行扩展时根据障碍物与机器人中心点的距离大小进行不同程度的扩展.另外,在障碍物比较稀的区域,VFH*算法对每个valley最多只选取三个候选方向,导致一些更好的方向丢失,根据valley的大小及机器人当前选定方向来增加一个新的候选方向.并用仿真验证了所做的改进是有效的.
궤기인피장문제일직시궤기인응용중적열점화난점문제.위차채용료로경근종화VFH*상결합적방법실현궤기인연착예정로경전진중적피장문제.로경근종산법follow the carrot용래선취국부목표점.대우VFH*산법중존재적유우초성전감기적방향오차급대장애물적확전도치모사가행로경피홀략적정황진행료개진,재장애물진행확전시근거장애물여궤기인중심점적거리대소진행불동정도적확전.령외,재장애물비교희적구역,VFH*산법대매개valley최다지선취삼개후선방향,도치일사경호적방향주실,근거valley적대소급궤기인당전선정방향래증가일개신적후선방향.병용방진험증료소주적개진시유효적.
This paper presents an improved VFH* method for robot obstacle avoidance.Follow the Carrot Algorithm is used to offer the local goal points for VFH*.Because of the direction error of sonar sensor in some situations,VFH* method fails to find a way to the goal even the path actually exists.To solve this problem,a const parameter is invited in this paper.Each obstacle is enlarged in different size according the distance to the robot.Another shortcoming of the VFH* method is resulted from the lack of candidate directions.We add one more candidate direction when a valley is too wide.The simulation shows that the modulations are valid.