一种添加振荡抑制的移动机器人避障算法

吴庭明; 吴宪云; 邓亮; 李云松

doi:10.19665/j.issn1001-2400.20230701

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一种添加振荡抑制的移动机器人避障算法

信息与通信工程 | 更新时间：2024-06-03

- 一种添加振荡抑制的移动机器人避障算法
- Obstacle avoidance algorithm for the mobile robot with vibration suppression
- 西安电子科技大学学报 2024年51卷第2期页码：84-95
- 作者机构：
  
  1. 西安电子科技大学空天地一体化综合业务网国家重点实验室,陕西西安 710071
  2. 西安电子科技大学广州研究院,广东广州 510555
  3. 西安电子科技大学杭州研究院,浙江杭州 311200
  4. 广州科语机器人有限公司研发事业部,广东广州 511495
- 作者简介：
  
  [ "吴庭明(1999—),男,西安电子科技大学硕士研究生,E-mail:[email protected]; " ]
  吴宪云(1985—),男,副教授,E-mail:[email protected]
  [ "邓亮(1981—),男,工程师,E-mail:[email protected] ; " ]
  [ "李云松(1974—),男,教授,E-mail:[email protected]" ]
- 基金信息：
  
  中国博士后科学基金(2013M540735);国家自然科学基金(61901388);国家自然科学基金(61301291);国家自然科学基金(61701360);高等学校学科创新引智计划(111计划)(B08038);陕西省高校青年创新团队资助支持
- DOI：10.19665/j.issn1001-2400.20230701
  中图分类号： TP242.6
- 纸质出版日期：2024-4-20，
  
  网络出版日期：2023-10-7，
  
  收稿日期：2023-2-6，
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吴庭明, 吴宪云, 邓亮, 等. 一种添加振荡抑制的移动机器人避障算法[J]. 西安电子科技大学学报, 2024,51(2):84-95.

Tingming WU, Xianyun WU, Liang DENG, et al. Obstacle avoidance algorithm for the mobile robot with vibration suppression[J]. Journal of Xidian University, 2024,51(2):84-95.
吴庭明, 吴宪云, 邓亮, 等. 一种添加振荡抑制的移动机器人避障算法[J]. 西安电子科技大学学报, 2024,51(2):84-95. DOI： 10.19665/j.issn1001-2400.20230701.

Tingming WU, Xianyun WU, Liang DENG, et al. Obstacle avoidance algorithm for the mobile robot with vibration suppression[J]. Journal of Xidian University, 2024,51(2):84-95. DOI： 10.19665/j.issn1001-2400.20230701.

摘要

针对室内移动机器人动态避障算法易出现局部死区问题

提出一种改进VFH动态避障算法。首先

针对传统VFH类算法

在候选波谷评价函数中引入波谷宽度和路径长度评价指标以降低移动机器人陷入局部死区的概率

提高路径平滑性;其次

针对局部避障算法受限于局部环境易在障碍物附近发生来回振荡的问题

引入振荡评价函数

通过计算移动机器人位姿到起始点和终点的加权欧氏距离绘制振荡评价曲线

利用自动峰值检测和一阶前向差分曲线获取振荡位置

并添加振荡抑制

使移动机器人逃离局部死区。仿真验证表明

在100组仿真场景中

改进算法陷入局部死区的场景减少约70组

平均规划迭代次数降低约32.3次

平均路径长度降低约26.2%

平均累计转折角度降低约79.6%。该算法有效降低了局部避障的代价

提高路径平滑度的同时降低在局部特殊环境下陷入死区的概率。

Abstract

Aiming at the problem that dynamic obstacle avoidance algorithms for indoor mobile robots are prone to local dead zones

an improved vector field histogram(VFH) dynamic obstacle avoidance algorithm is proposed.First

according to traditional VFH-class algorithms

a path lenght cost and an evaluation index of trough width are introduced to the candidate evaluation function of the trough to reduce the probability of the mobile robot falling into local dead zones and to improve path smoothness.Second

in view of the problem that local obstacle avoidance algorithms are limited to local environment and oscillate back and forth near obstacles easily

an oscillation evaluation function is introduced with an oscillation evaluation curve drawn by calculating the weighted Euclidean distances from the pose of the mobile robot to the starting and ending points.Automatic peak detection and a first-order forward difference curve are employed to obtain the oscillation positions

and then the oscillation suppression is taken to make the mobile robot escape the local dead zones.Simulation results show that within 100 groups of simulation scenarios

the number of scenarios wherein the improved VFH algorithm falls into the local dead zones is reduced by 70 groups

the average number of planning iterations is decreased by 32.3 times

the average path length is reduced by 26.2%

and the average cumulative turning angle is declined by 79.6%.The algorithm can effectively reduce the cost of the local obstacle avoidance

improve the path smoothness and reduce the probability of falling into the dead zones in local special environment.

关键词

避障VFH局部死区振荡曲线

Keywords

obstacle avoidanceVFHlocal dead zoneoscillation curve

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