| 陈超勇,熊禾根,陶永,邹遇,任帆,江山.基于高效模板法与动态窗口法的服务机器人全覆盖路径规划方法[J].高技术通讯(中文),2020,30(9):949~958 |
| 基于高效模板法与动态窗口法的服务机器人全覆盖路径规划方法 |
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| DOI：doi：10.3772/j.issn.1002-0470.2020.09.009 |
| 中文关键词: 清扫服务机器人； 全覆盖路径规划； 高效模板法； 动态窗口法（DWA）； 动态避障 |
| 英文关键词: cleaning service robot， coverage path planning， efficient template algorithm， dynamic window approach (DWA)， dynamic obstacle avoidance |
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| 摘要点击次数: 2102 |
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| 中文摘要: |
| 针对传统模板算法覆盖效率低、无法动态避障等问题，提出了一种基于高效模板法和动态窗口法相融合的全覆盖路径规划方法。该方法由2部分组成：（1）利用高效模板算法在先验的静态栅格地图中规划出全局覆盖路径；（2）融合全局路径与传感器信息建立实时的动态窗口，检测到未知动态障碍物时使用动态窗口法（DWA）进行局部路径规划。最后，基于搭建的清扫服务机器人平台，通过仿真和真实环境联合论证，验证了本文所提方法能在动态环境中有效地实现清扫服务机器人自主避障的全覆盖路径规划，提高了清扫服务机器人的安全性和工作效率，具有实际应用价值。 |
| 英文摘要: |
| In view of the problems of traditional template algorithm with low coverage efficiency and unable to avoid obstacles dynamically, a coverage path planning method based on the fusion of efficient template algorithm and dynamic window approach is proposed. The method consists of two parts. One is using efficient template algorithm to plan a global coverage path in a prior static grid map. The second is combining the global path and sensor information to create a real-time dynamic window. When the window detects an unknown dynamic obstacle, the dynamic window approach (DWA) is employed for local path planning. Finally, based on the construction of the cleaning service robot platform, the joint demonstration of simulation and real environment indicates that the method proposed in the paper has practical value. It can efficiently implement the coverage path planning with dynamic obstacle avoidance for cleaning service robots in a dynamic environment, improve the safety and efficiency of cleaning service robots. |
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