Selectivity obstacle_avoidance research based on relative speed

doi:10.3778/j.issn.1002-8331.2009.03.062

Computer Engineering and Applications ›› 2009, Vol. 45 ›› Issue (3): 207-209.DOI: 10.3778/j.issn.1002-8331.2009.03.062

• 工程与应用 • Previous Articles Next Articles

Selectivity obstacle_avoidance research based on relative speed

WANG Jian-guo,MENG Xiang-fu,JIANG Jiang

College of Automation Engineering，Northeast Dianli University，Jilin 132012，China

Received:2008-01-04 Revised:2008-04-07 Online:2009-01-21 Published:2009-01-21
Contact: WANG Jian-guo

基于相对速度的选择性避障方法的研究

王建国,孟祥甫,江绛

东北电力大学自动化工程学院，吉林 132012

通讯作者: 王建国

Abstract

Abstract: The reason of the collision in kinematics is analyzed，and the obstacle_avoidance problem fundamentality is resolved.Filtered the obstacle in obstacle avoidance area by the angle of the relative speed and the robot’s heading direction，so as to avoid unnecessary obstacle avoidance action and increase the opportunity of approaching the target.This method’s usability and effectiveness have been proved in practice.

Key words: relative speed, angle, obstacle avoidance

摘要： 从运动学的角度分析了碰撞的原因，从碰撞问题的根本上着手解决避障问题。利用相对速度和机器人前进方向的夹角对避障区内的障碍物进行筛选，很大程度上避免了不必要的避障动作，增加了机器人接近目标的机会。实践证明了该方法的可用性和有效性。

关键词: 相对速度, 夹角, 避障

WANG Jian-guo,MENG Xiang-fu,JIANG Jiang. Selectivity obstacle_avoidance research based on relative speed[J]. Computer Engineering and Applications, 2009, 45(3): 207-209.

王建国,孟祥甫,江绛. 基于相对速度的选择性避障方法的研究[J]. 计算机工程与应用, 2009, 45(3): 207-209.

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Selectivity obstacle_avoidance research based on relative speed

基于相对速度的选择性避障方法的研究

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