基于激光雷达的移动机器人避障策略研究

Obstacle avoidance for mobile robots strategy based on laser radar

摘要:

激光雷达具有扫描精度高的优点，因此采用激光雷达来获取机器人周围环境信息。针对VFH算法中波谷宽度的计算以及纯转向问题，提出了一种方法来计算波谷的宽度以及检测机器人在该波谷的可通行性，在获得目标方向的基础上增加局部目标点作为VFH算法结果，并在此基础上设计一种平滑转弯的控制策略，使得机器人能够在复杂环境中以平滑路径逼近目标位置。最后通过实验验证了本文平滑避障策略的有效性。

Abstract:

Laser radar has the advantages of high scanning precision,so it is used to obtain the information about the environment around the robot.In order to solve the problems about trough width calculation and pure steering in the VFH algorithm,a method to calculate the trough width and check the traversability of the robot in this trough is proposed.Based on the acquiring goal orientation, local target points are added as the result of the VFH algorithm.In addition,a control strategy of smooth turning is designed,which makes the robot to approach the target position with smooth way in a complex environment.Finally,effectiveness of the method is verified by experiments.