基于激光雷达的机器人改进人工势场路径规划研究

Research on Path Planning of Improved Artificial Potential Field for Mobile Robot Based on Laser Sensor

中文关键词:  路径规划  改进人工势场法  Matlab图形界面仿真  激光雷达

英文关键词:path planning  improved artificial potential field  Matlab graphical user interface simulation  laser sensor

中文摘要:

      人工势场法路径规划需要建立在已知环境下障碍物分布位置的基础之上，而激光雷达传感器可以用于未知环境下障碍物分布位置的探测和获取，因此可以将两者结合，从而解决移动机器人未知环境下路径规划问题。该课题建立在人工势场法理论基础之上，在Matlab中构建路径规划仿真图形用户界面，利用机载激光雷达传感器探测获取障碍物的位置分布信息，通过串口将数据传输至Matlab软件中并显示。在Matlab软件下编写人工势场路径规划的实现算法，进行仿真实验。实验结果表明，传统人工势场法路径规划存在的两个问题，分析原因后给出一种改进的人工势场法，并在之前的图形用户界面下继续进行仿真实验。仿真结果表明：改进的人工势场法有效地实现了路径优化的目标。

英文摘要:

      Since the artificial potential field (APF) path planning needs to be based on the location of the obstacle distribution in a known environment,while the LIDAR sensor can be used to detect and acquire the obstacle distribution positions in an unknown environment,so the two can be combined to solve the path planning problem of mobile robot in unknown environment.Based on the theory of the APF,the graphical user interface of the path planning was built in Matlab.The location and distribution information of obstacles was detected by airborne laser sensor and the data were sent to the Matlab software.The APF path planning algorithm program was written in Matlab.Through the result of simulation experiments,it is found that there are some problems in APF path planning.After analyzing the reasons,the improved APF method is proposed and simulation experiments are continued.The result shows that the improved APF can effectively achieve the goal of path optimization.