自主式移动机器人的路径规划和避障-综述.docVIP

Path Planning and Obstacle Avoidance for Autonomous Mobile Robots: A Review Voemir Kunchev1, Lakhmi Jain1, Vladimir Ivancevic2, and Anthony Finn2 School of Electrical and Information Engineering, Knowledge Based Intelligent Engineering Systems Centre, University of South Australia, Mawson Lakes SA 5095, Australia kunvy001@students.unisa.edu.au, Lakhmi.Jain@unisa.edu.au 2 Defence Science and Technology Organisation {Vladimir.Ivancevic, Anthony.Finn}@dsto.defence.gov.au Abstract. Recent advances in the area of mobile robotics caused growing atten- tion of the armed forces, where the necessity for unmanned vehicles being able to carry out the “dull and dirty” operations, thus avoid endangering the life of the military personnel. UAV offers a great advantage in supplying reconnais- sance data to the military personnel on the ground, thus lessening the life risk of the troops. In this paper we analyze various techniques for path planning and obstacle avoidance and cooperation issues for multiple mobile robots. We also present a generic dynamics and control model for steering a UAV along a colli- sion free path from a start to a goal position. 1 1 Introduction In the past few decades there has been a great interest in the problem of motion plan-ning for autonomous mobile robots. To better define motion planning problem we can decompose it into path planning and trajectory planning. Path planning is taking care of the generation of obstacle free path taking into consideration geometric characteris-tics of obstacles and the kinematic constrains of the robot. Trajectory generation deals with the robot’s dynamics, moving obstacles or obstacles not known priori which are time dependent constrains [1]. The basic mobile robot navigation can be divided into the following tasks: ? Generate a model of the environment in the form of map. ? Compute a collision free path from a start to a goal position. ? Traverse the generated trajectory (with specified velocity and acceleration and