首页> 中文期刊> 《中国机械工程》 >动态环境中基于碰撞预测的局部路径规划方法

动态环境中基于碰撞预测的局部路径规划方法

         

摘要

A local path planning based on prediction of collision was proposed. The velocity of obstacles and its probability distribution was estimated by an adaptive unscented Kalman filter(UKF), so that the dangerous region (potential collision region) was predicted. Based on the probability distribution of the dangerous region, it was then expanded to ensure the security. By finding the best "free road" and estimating the "danger", all information needed in path planning was then compressed. Consequently the efficiency of the fuzzy logic controller was improved significantly, which was also employed to calculate the speed of the robot. The results of both simulations and experiments prove that the method gets better effect in both static environment and dynamic environment with uncertainty.%提出一种基于碰撞预测的局部路径规划方法.以自适应无色卡尔曼滤波器跟踪障碍物获得障碍物位置、相对运动速度及其概率分布,预测障碍物与机器人的潜在碰撞区域,并依其位置、速度的不确定性扩充碰撞危险区域以重构环境威胁区分布.以自由路径表征可以通过的自由空间,引入风险函数评估碰撞的风险.通过搜索最优自由路径及其风险值压缩表示环境信息,使得利用模糊控制器进行局部路径规划的实时性获得提高.该方法对动态障碍物及其不确定性均有较强的适应能力.实验及仿真结果均表明,在动态环境中该方法所得路径优于已有方法.

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