基于典型栅格地图的轮式移动机器人路径规划与跟踪.doc

基于典型栅格地图的轮式移动机器人路径规划与跟踪.doc基于典型栅格地图的轮式移动机器人路径规划与跟踪
王启宇李刚俊
成都工业学院机械工程学院机器人研究所
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摘    要:
选取典型的家庭房屋平面结构图, 通过一系列图像处理方法将其转换为路径规划能够使用的栅格地图。获取栅格地图后, 采用概率路线图法对机器人的运行路线进行规划, 将规划获取的路径设为机器人的期望路径, 并利用纯追踪法对该路径进行跟踪。以自制的三轮全向移动机器人为例, 对轨迹跟踪过程进行了计算仿真和实物测试, 结果显示本方法可有效完成家用环境的轮式移动机器人路径规划与轨迹跟踪任务。
关键词:
栅格地图; 轮式移动机器人; 路径规划; 轨迹跟踪;
作者简介:王启宇(1979—) , 男, 高级工程师, 博士, 研究方向为机器人运动规划与控制, E-mail:******@cdtu.
收稿日期:2017-07-04
基金:四川省科技基金项目(2015GZ0340)
Wheeled Mobile Robot Path Planning and Tracking Based on Typical Grid Map
WANG Qiyu LI Gangjun
College of Mechanical Engineering, Chengdu Technology University;
Abstract:
In this paper, some typical home building planar structure pictures were chosen and converted into grid map by some image processing probabilistic roadmap path method is used to solve the robot's motion path after the grid map is robot's expected path is set by the planning result, then a pure pursuit method is used to track this by the example of a self-made three-wheel omni-directional mobile robot, the path tracking process was simulated and tested puter and results show that this method pleted the mission of domestic wheel mobile robot path planning and tracking mercial environment.
Keyword:
Grid map; Wheeled mobile robot; Path planning; Path tracking;
Received: 2017-07-04