CAJ | 학술논문

针对未知环境下的机器人迷宫求解问题，提出一种动态离散势场路径规划算法。为提高路径优化性能，采用引入边界节点的栅格法建立模型，在各栅格的边界节点处定义障碍物状态和势场的数值大小，通过计算可连通相邻节点的累计代价值完成势场的构造。为提高寻优速度，随着环境信息的更新动态改变势场分布，沿势场下降最快方向获得实时重规划路径，引导机器人向目标运动，通过预规划路径的访问状态判断路径是否收敛，避免无用栅格的扩展。仿真实验结果表明，应用该算法可使机器人在复杂未知的迷宫环境中快速、高效地规划出一条折线少、转折角度小的优化路径。
침대미지배경하적궤기인미궁구해문제，제출일충동태리산세장로경규화산법。위제고로경우화성능，채용인입변계절점적책격법건립모형，재각책격적변계절점처정의장애물상태화세장적수치대소，통과계산가련통상린절점적루계대개치완성세장적구조。위제고심우속도，수착배경신식적경신동태개변세장분포，연세장하강최쾌방향획득실시중규화로경，인도궤기인향목표운동，통과예규화로경적방문상태판단로경시부수렴，피면무용책격적확전。방진실험결과표명，응용해산법가사궤기인재복잡미지적미궁배경중쾌속、고효지규화출일조절선소、전절각도소적우화로경。
Aiming at robot solving maze problem in the unknown environment, a path planning algorithm based on dynamic discretely potential is proposed. In order to improve the performance of path optimization, the algorithm uses grids method which including boundary node to model, and by accumulating the values of connected nodes which mean the grid’s status of obstacles to build potential field. Furthermore, to increase search rate, the algorithm dynamically changes potential field as the environment information updated, and obtains the direction which potential values fall to guide the robot moving toward target. The convergence of path is judged by its visit status to avoid extension of useless grids. Simulation experimtental results show that the robot can find out smoothing optimal path quickly and efficiently by using the algorithm in the complex and unknown maze environment.