计算机工程与应用 ›› 2008, Vol. 44 ›› Issue (22): 206-209.DOI: 10.3778/j.issn.1002-8331.2008.22.062

• 工程与应用 • 上一篇    下一篇

室外自主移动机器人AMOR的导航技术

杨唐文1,韩建达2,KUHNERT K D3   

  1. 1.北京交通大学 计算机与信息技术学院,北京 100044
    2.中国科学院 沈阳自动化研究所 机器人学国家重点实验室,沈阳 110016
    3.德国锡根大学 电气与计算机科学系,锡根 57068
  • 收稿日期:2008-01-08 修回日期:2008-03-07 出版日期:2008-07-11 发布日期:2008-07-11
  • 通讯作者: 杨唐文

Navigating an autonomous mobile outdoor robot AMOR

YANG Tang-wen1,HAN Jian-da2,KUHNERT K D3   

  1. 1.School of Computer and Information Technology,Beijing Jiaotong University,Beijing 100044,China
    2.State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China
    3.Elektrotechnik und Informatik,Universitaet Siegen,Siegen 57068,Germany
  • Received:2008-01-08 Revised:2008-03-07 Online:2008-07-11 Published:2008-07-11
  • Contact: YANG Tang-wen

摘要: 在非结构化环境,移动机器人行驶运动规划和自主导航是非常挑战性的问题。基于实时的动态栅格地图,提出了一个快速的而又实效的轨迹规划算法,实现机器人在室外环境的无碰撞运动导航。AMOR是自主研发的室外运动移动机器人,它在2007年欧洲C-ELROB大赛中赢得了野外自主侦察比赛的冠军。它装备了SICK的激光雷达,用来获取机器人运动前方的障碍物体信息,建立实时动态的环境地图。以A*框架为基础的改造算法,能够在众多的路径中快速地找到最佳的安全行驶路径,实现可靠的自主导航。所有的测试和比赛结果表明所提方案是可行的、有效的。

关键词: 室外自主移动机器人, 栅格地图, 路径规划, 无碰撞导航

Abstract: Motion planning is a very challenging issue of navigating a mobile outdoor robot,especially when it moves in unstructured environments.In this paper,based on grid maps updated in real time,a fast,suboptimal planning algorithm is proposed to implement collision-free navigation of an autonomous mobile outdoor robot AMOR,who is the winner of autonomous reconnaissance in the 2007 C-ELROB competition.The grid map is established with the obstacle information around the outdoor robot,mainly from the scanning data of a SICK laser finder.A new A* based searching algorithm provides a practically effective solution to the path planning problem.Reliable and safe navigation is achieved,and proved through urban and non-urban tests and competitions.

Key words: autonomous mobile outdoor robots, grid map, path planning, collision-free navigation