兼顾启停特性和转角时耗的移动机器人路径规划

李逸飞; 王书亭; 熊体凡; 谢远龙; 李虎

doi:10.7652/xjtuxb202302020

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兼顾启停特性和转角时耗的移动机器人路径规划

—————————————————————— | 更新时间：2025-07-09

- 兼顾启停特性和转角时耗的移动机器人路径规划
- Mobile Robot Path Planning Considering Start-Stop Characteristics and Corner Time Consumption
- 西安交通大学学报 2023年57卷第2期页码：192-202
- 作者机构：
  
  华中科技大学机械科学与工程学院,武汉,430074
- 作者简介：
  
  : 2022-08-25。作者简介: 李逸飞(1998—),男,硕士生
  谢远龙(通信作者),男,博士,讲师,硕士生导师。基金项目: 国家自然科学基金资助项目(52105019,U21A20151)
- 基金信息：
  
  : 2022-08-25。作者简介: 李逸飞(1998—),男,硕士生;谢远龙(通信作者),男,博士,讲师,硕士生导师。基金项目: 国家自然科学基金资助项目(52105019,U21A20151);国家重点研发计划资助项目(2020YFB1708300)。
- DOI：10.7652/xjtuxb202302020
  中图分类号： TK421.4
- 网络首发：2023-02-10，
  
  纸质出版：2023
- 稿件说明：
移动端阅览
李逸飞, 王书亭, 熊体凡, 等. 兼顾启停特性和转角时耗的移动机器人路径规划[J]. 西安交通大学学报, 2023,57(2):192-202.

LI Yifei, WANG Shuting, XIONG Tifan, et al. Mobile Robot Path Planning Considering Start-Stop Characteristics and Corner Time Consumption[J]. 2023, 57(2): 192-202.
李逸飞, 王书亭, 熊体凡, 等. 兼顾启停特性和转角时耗的移动机器人路径规划[J]. 西安交通大学学报, 2023,57(2):192-202. DOI： 10.7652/xjtuxb202302020.

LI Yifei, WANG Shuting, XIONG Tifan, et al. Mobile Robot Path Planning Considering Start-Stop Characteristics and Corner Time Consumption[J]. 2023, 57(2): 192-202. DOI： 10.7652/xjtuxb202302020.

摘要

针对传统移动机器人路径规划算法在考虑启动、制动以及转向姿态调整等实际约束的情况下

规划结果存在机器人运行时间长、任务执行效率低且在大场景下易陷入局部拥堵甚至导致运行瘫痪等问题

提出一种兼顾启停特性和转角时耗的移动机器人路径规划算法。对移动机器人启动、制动及运行过程进行数学建模

分类构建栅格化A

算法运动代价函数; 针对移动机器人姿态调整导致任务耗时长的问题

结合地图二维向量坐标下方位角与位置向量分布关系

设计转角时耗代价函数; 提出考虑信息素轨迹跟踪与启发项比例均值化的动态启发函数

对规则路网下潜在的局部拥堵问题进行处理。仿真与实验结果表明:所提改进A

算法相较传统A

算法

机器人平均运行时间减少了11.4%

有效缩短了移动机器人任务运行时间; 所提算法经过启发项比例均值化调整

在仅微量增加机器人运行时间的情况下

使信息素矩阵标准差降低了96.9%

有效预防了移动机器人局部拥堵情况的发生。

Abstract

Considering the actual constraints of starting

braking and steering attitude adjustment

traditional mobile robot path planning is prone to problems such as prolonged robot running time

low task execution efficiency

local congestion and even operation breakdown in large scenes. To address these problems

a path planning algorithm taking into accounts both start-stop characteristics and angular time consumption is proposed for mobile robot. Firstly

mobile robot's starting

braking

and operating processes are modeled mathematically

and the rasteriz

ed motion cost function is constructed by classification. Secondly

aiming at the problem of time-consuming task caused by mobile robot attitude adjustment

the distribution relationship between azimuth angle and position vector in two-dimensional vector coordinates of the map is constructed

and the cost function at the angle is designed. In the end

a dynamic heuristic function considering pheromone trajectory tracking and heuristic term proportional averaging is proposed to solve the problem of potential local congestion in regular road network. Simulation and experimental results show that

with the improved A

algorithm

the average robot running time is reduced by 11.4% compared with the traditional A

algorithm

so that the task running time of the mobile robot is effectively shortened. In addition

the heuristic adjustment of the algorithm lowers the standard deviation of the pheromone matrix by 96.9% with only a small increase in robot running time

so that local congestion of the mobile robot can be avoided.

关键词

Keywords

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