Method and Optimization of Dynamic Obstacle Avoidance Path Planning Based on Rolling Window
Aiming at the current weak path planning ability of mobile robots in complex environments such as environments with dynamic obstacles,a dynamic obstacle avoidance method based on an optimized rolling window is proposed.First,the basic theo-ry of the rolling window method is introduced and the problems in its application are analyzed.It is concluded that the method of selecting local sub-target points in this method may make the planned path of the robot fall into a minimum point.On this basis,the method of selecting local sub-target points is optimized.Then,in order to prevent obstacles that may appear at any time,a mathematical model is established for dynamic obstacles to predict trajectory,and corresponding obstacle avoidance strategies are designed according to different predicted trajectories.Finally,a simulation experiment is carried out on the proposed optimi-zation method.Through simulation and experimental verification,the algorithm has strong applicability for dynamic obstacle avoidance of mobile robots in complex environments.
万方数据
维普
