ROS/Gazebo环境下基于样条的路径规划算法的开发与实现

Q3 Mathematics
Lavrenov Lavrenov, E. Magid, M. Fumitoshi, M. Svinin, J. Suthakorn
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引用次数: 29

摘要

自主移动机器人路径规划是机器人领域的一个重要课题。在路径规划中,通常使用两种经典方法中的一种:一种是全局方法,当机器人可以获得工作环境的整个地图时;另一种是局部方法,这要求机器人在穿越环境时使用各种机载传感器检测障碍物。在我们之前的工作中,我们开发了一个用于全局路径构建的多准则样条算法原型,并在Matlab环境中进行了测试。该算法使用Voronoi图计算初始路径,作为迭代方法的起点。这种方法允许在所有映射配置中找到路径,只要路径存在。在迭代搜索过程中,一个带有许多不同标准和相关权重的代价函数指导进一步的路径优化。利用势场法实现了部分准则。本文描述了一种改进的基于样条的算法的实现,该算法可用于实际的自主移动机器人。进一步修正了路径最优性特征准则方程。障碍物图以前被表示为具有不同半径的有限数量圆的交叉点。然而,在现实环境中,障碍物的数据是一个动态变化的概率图,可以基于占用网格。此外,机器人不再是一个几何点。为了实现样条算法并进一步在实际机器人中使用,将Matlab环境原型的源代码转换为c++编程语言。在ROS/Gazebo环境中对该方法和多准则成本函数最优性进行了测试,ROS/Gazebo环境最近已成为机器人设备和算法编程和建模的标准。所得到的基于样条的路径规划算法可用于任何配备激光测距仪的实际机器人。算法实时运行,目标函数准则参数的影响可用于机器人运动过程中的动态整定。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Development and Implementation of Spline-based Path Planning Algorithm in ROS/Gazebo Environment
Path planning for autonomous mobile robots is an important task within robotics field. It is common to use one of the two classical approaches in path planning: a global approach when an entire map of a working environment is available for a robot or local methods, which require the robot to detect obstacles with a variety of onboard sensors as the robot traverses the environment. In our previous work, a multi-criteria spline algorithm prototype for a global path construction was developed and tested in Matlab environment. The algorithm used the Voronoi graph for computing an initial path that serves as a starting point of the iterative method. This approach allowed finding a path in all map configurations whenever the path existed. During the iterative search, a cost function with a number of different criteria and associated weights was guiding further path optimization. A potential field method was used to implement some of the criteria. This paper describes an implementation of a modified spline-based algorithm that could be used with real autonomous mobile robots. Equations of the characteristic criteria of a path optimality were further modified. The obstacle map was previously presented as intersections of a finite number of circles with various radii. However, in real world environments, obstacles’ data is a dynamically changing probability map that could be based on an occupancy grid. Moreover, the robot is no longer a geometric point. To implement the spline algorithm and further use it with real robots, the source code of the Matlab environment prototype was transferred into C++ programming language. The testing of the method and the multi criteria cost function optimality was carried out in ROS/Gazebo environment, which recently has become a standard for programming and modeling robotic devices and algorithms. The resulting spline-based path planning algorithm could be used on any real robot, which is equipped with a laser rangefinder. The algorithm operates in real time and the influence of the objective function criteria parameters are available for dynamic tuning during a robot motion.
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来源期刊
SPIIRAS Proceedings
SPIIRAS Proceedings Mathematics-Applied Mathematics
CiteScore
1.90
自引率
0.00%
发文量
0
审稿时长
14 weeks
期刊介绍: The SPIIRAS Proceedings journal publishes scientific, scientific-educational, scientific-popular papers relating to computer science, automation, applied mathematics, interdisciplinary research, as well as information technology, the theoretical foundations of computer science (such as mathematical and related to other scientific disciplines), information security and information protection, decision making and artificial intelligence, mathematical modeling, informatization.
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