Dynamic obstacle avoidance method for mobile robots

被引：0

作者：

Zhang H. ^{[1
]}

Miao C. ^{[1
]}

Tang Y. ^{[1
]}

Yan X. ^{[1
]}

Shi Y. ^{[1
]}

Yu Y. ^{[2
]}

机构：

[1] School of Mechanical Engineering, University of Science and Technology Beijing, Beijing

[2] School of Automation, Beijing Institute of Technology, Beijing

来源：

Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2022年 / 48卷 / 06期

基金：

中国国家自然科学基金;

关键词：

Artificial potential field; Dynamic obstacle avoidance; Mobile robot; Velocity repulsion field; Water flow field;

D O I：

10.13700/j.bh.1001-5965.2020.0727

中图分类号：

学科分类号：

摘要：

This paper proposes an autonomous dynamic obstacle avoidance method for omnidirectional mobile robot by introducing velocity repulsion field to solve the existing problems, an improvement from water flow field based artificial potential field obstacle avoidance method. This paper presents a detailed analysis of problems of artificial potential field improved by water flow field, such as a too long avoidance path or avoidance failure caused by the mobile robot moving in front of the obstacles. To solve the above problems, the velocity repulsion field, in line with the relative velocity of the mobile robot and the dynamic obstacle, is introduced in artificial potential field obstacle avoidance method based on water flow field. With the omni-directional mobile robot moving in rear of the obstacles, a safe and autonomous dynamic obstacle avoidance is fully realized. The effectiveness and practicability of the autonomous dynamic obstacle avoidance algorithm are verified through simulation and indoor obstacle avoidance experiment. © 2022, Editorial Board of JBUAA. All right reserved.

引用

页码：1013 / 1021

页数：8

共 19 条

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