机械研究与应用
機械研究與應用
궤계연구여응용
Mechanical Research & Application
2015年
4期
30-32,36
,共4页
路径规划%ARM%人工势场%空白搜索
路徑規劃%ARM%人工勢場%空白搜索
로경규화%ARM%인공세장%공백수색
path planning%ARM%artificial potential field%blank search
针对人工势场法在移动机器人路径规划中存在的“死锁”现象，建立了改进的人工势场数学模型，实现底层实时控制；通过膨胀和腐蚀操作，对图像进行二值预处理，采取全局空白搜索方法，使移动机器人远离局部最小值，形成平滑无碰撞路径。结合移动机器人实体本身运动特点，选用ARM处理器的控制模式，规划各层算法优先级高低，设计移动机器人路径规划控制算法。通过对比实验表明，该算法能够较好地满足复杂环境下移动机器人路径规划中的有效性、实时性和环境适应性的要求。
針對人工勢場法在移動機器人路徑規劃中存在的“死鎖”現象，建立瞭改進的人工勢場數學模型，實現底層實時控製；通過膨脹和腐蝕操作，對圖像進行二值預處理，採取全跼空白搜索方法，使移動機器人遠離跼部最小值，形成平滑無踫撞路徑。結閤移動機器人實體本身運動特點，選用ARM處理器的控製模式，規劃各層算法優先級高低，設計移動機器人路徑規劃控製算法。通過對比實驗錶明，該算法能夠較好地滿足複雜環境下移動機器人路徑規劃中的有效性、實時性和環境適應性的要求。
침대인공세장법재이동궤기인로경규화중존재적“사쇄”현상，건립료개진적인공세장수학모형，실현저층실시공제；통과팽창화부식조작，대도상진행이치예처리，채취전국공백수색방법，사이동궤기인원리국부최소치，형성평활무팽당로경。결합이동궤기인실체본신운동특점，선용ARM처리기적공제모식，규화각층산법우선급고저，설계이동궤기인로경규화공제산법。통과대비실험표명，해산법능구교호지만족복잡배경하이동궤기인로경규화중적유효성、실시성화배경괄응성적요구。
To overcome the deadlock of the artificial potential field method in mobile robot path planning, a mathematical model of improved method was proposed to realize the lower real-time control. The image binarization pretreatment was com-pleted by the dilation and erosion operation, the mobile robot was moved away from the local minimum by taking the global blank search method to form a smooth collision free path. Combined with the motion characteristics of mobile robot, the ARM processor was selected to plan the each priority level of the layer algorithm, and to design the control algorithm of path plan-ning for mobile robot. Through the comparative experiments, it is shown that the algorithm can better meet the requests of ef-fectiveness, real-time and environmental adaptability of the robot path planning in complex environment.
