移动机器人路径规划和导航(英文).pdf

Autonomous Mobile Robots, Chapter 6 ? R. Siegwart, I. Nourbakhsh Planning and Navigation Where am I going? How do I get there? ? 6 "Position" Global Map Perception Motion Control Cognition RealWorld Environment Localization Path Environment Model Local Map Autonomous Mobile Robots, Chapter 6 ? R. Siegwart, I. petencies for Navigation I ?Cognition / Reasoning : ?is the ability to decide what actions are requiredto achieve a certain goalin a given situation (belief state). ?decisions ranging from what path to taketo what information on the environment to use. ?Today’s industrial robotscan operate without any cognition (reasoning) because their environment is staticand very structured. ?In mobile robotics, cognition and reasoning is primarily of geometric nature, such as picking safe pathor determining where to go next. ?already been largely explored in literature for cases in plete information about the current situation and the environment exists(. sales man problem). Autonomous Mobile Robots, Chapter 6 ? R. Siegwart, I. petencies for Navigation II ?However, in mobile robotics the knowledgeof about the environment and situation is usually only partially known and is uncertain. ?makes the task much more difficult ?requires multiple tasks running in parallel, some for planning(global), some to guarantee “survival of the robot”. ?Robot control can usually be posedin various behaviorsor functions ?. wall following, localization, path generation or obstacle avoidance. ?In this chapter we are concerned with path planningand navigation, except the low lever motion control and localization. ?We can generally distinguish between (global)path planningand (local) obstacle avoidance. Autonomous Mobile Robots, Chapter 6 ? R. Siegwart, I. Nourbakhsh Global Path Planing ?Assumption: there exists a good enough map of the environment for navigation. ?Topological or metric or a mixture between both. ?First step: ?Representation of the environment by a