Obstacle avoidance study for mobile robot in unknown environment

GU Xing-fang; CHEN Jin-yin

doi:10.13873/j.1000-97872011.05.043

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Obstacle avoidance study for mobile robot in unknown environment

更新时间：2025-09-11

- Obstacle avoidance study for mobile robot in unknown environment
- Vol. 30, Issue 5, Pages: 16-20(2011)
- 作者机构：
  
  浙江工业大学信息工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872011.05.043
  CLC： TP242
- Published：2011
- 稿件说明：
移动端阅览
[1]顾幸方,陈晋音.移动机器人未知环境避障研究[J].传感器与微系统,2011,30(05):16-20.

GU Xing-fang, CHEN Jin-yin. Obstacle avoidance study for mobile robot in unknown environment[J]. 2011, 30(5): 16-20.
[1]顾幸方,陈晋音.移动机器人未知环境避障研究[J].传感器与微系统,2011,30(05):16-20. DOI： 10.13873/j.1000-97872011.05.043.

GU Xing-fang, CHEN Jin-yin. Obstacle avoidance study for mobile robot in unknown environment[J]. 2011, 30(5): 16-20. DOI： 10.13873/j.1000-97872011.05.043.

摘要

针对移动机器人的避障问题

以AS-R移动机器人为实验平台

提出了一种改进人工势场和模糊逻辑相结合的路径规划方法。对于未知障碍物环境采用人工势场法进行实时路径规划

对于动态近距离动态障碍物采用模糊逻辑方法引导机器人做出避障行为。为了有效将2种方法结合

根据传感器信息对于人工势场方法引入转角的信任度

机器人运行方向由上述2种方法输出的偏转角和信任度综合确定。该方法使移动机器人在避障中具有较好灵活性和鲁棒性。仿真实验验证了机器人避障方法的有效性。

Abstract

Aiming at the problem of obstacle avoidance for mobile robot

AS-R mobile robot is used as experimental platform.A novel approach based on improved artificial potential field and fuzzy control is presented.For unknown and static environment

artificial potential field is adopted for real-time path planning.Aiming at dynamic obstacle nearby

the method of fuzzy logic is used for collision avoidance.As for potential field method trusting degree rotating angle is introduced

depending on sonars information.Robot’s moving orientation is determined by both two methods and the trusting degree.Combining these two methods

high performance of robust and flexible for obstacle avoidance can be achieved.Simulation experiments and AS-R robot obstacle avoidance experiments verify the effectiveness of the proposed approach.

关键词

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references

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