CAJ | 학술논문

针对移动机器人路径规划问题，结合细菌觅食趋化过程的相似性，提出了一种类似细菌趋化行为的移动机器人路径规划方法。该方法模拟细菌的觅食环境，为机器人建立类似的障碍物轮廓和目标轮廓模型，通过设置一定的趋向和避障权重，并结合智能机器人的自身传感器技术，为机器人在简单甚至复杂的环境下提供相应的路径运动策略，达到实现实时导航任务的目的。在高斯势场环境下进行仿真实验，与Sierakowski 的方法进行比较，实验结果表明该方法获取的路径具有更好的安全性、实时性和平滑性，说明了所提方法不仅能实现机器人的路径规划任务，而且规划的路径能使机器人在障碍物密集的区域内灵活调整位姿。
침대이동궤기인로경규화문제，결합세균멱식추화과정적상사성，제출료일충유사세균추화행위적이동궤기인로경규화방법。해방법모의세균적멱식배경，위궤기인건립유사적장애물륜곽화목표륜곽모형，통과설치일정적추향화피장권중，병결합지능궤기인적자신전감기기술，위궤기인재간단심지복잡적배경하제공상응적로경운동책략，체도실현실시도항임무적목적。재고사세장배경하진행방진실험，여Sierakowski 적방법진행비교，실험결과표명해방법획취적로경구유경호적안전성、실시성화평활성，설명료소제방법불부능실현궤기인적로경규화임무，이차규화적로경능사궤기인재장애물밀집적구역내령활조정위자。
In order to solve the problem of mobile robot path planning , this paper puts forward a method of mobile robot path planning based on bacterial chemotaxis .Simulating the bacterial foraging environment , this method builds similar obstacle contours and the target contour models .Through setting some tendency and obstacle weight and combining intelligent robot sensing technology , it can offer relative sports strategy for mobile robots under sim-ple or even complex environments and thus utilizes real-time navigation .By using this method in the Gaussian po-tential environment , the robot can not only find its path , but it can also adjust its position and attitude under com-plicated environments as compared with the Sierakowski method , and the experimental results show that this method can get a better path with security , real-time performance and flatness .