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提出一种室内移动服务机器人在未知环境的避障和运动规划算法.该算法通过分析超声传感器阵列探测的障碍物信息,确定机器人旋转的角度和半径,同时根据障碍物距离分3档调整运动速度,据此设计的实时避障算法,结合运动学模型实现了机器人沿障碍物轮廓行驶的行为,针对外凸、内凹和孤立等3种障碍物类型进行了试验,试验结果验证了算法的有效性.
An obstacle avoidance and motion planning algorithm for indoor mobile service robot in an unknown environment is proposed.The algorithm analyzes the obstacle information detected by the array of ultrasonic sensors to determine the angle and radius of rotation of the robot and adjusts the movement speed according to the obstacle distance in 3 steps , The real-time obstacle avoidance algorithm is designed based on this, and the kinematics model is used to realize the robot’s behavior along the contour of the obstacle. Three types of obstacles, such as convex, concave and isolated, are tested. The experimental results verify the effectiveness of the algorithm Sex.