基于典型栅格地图的轮式移动机器人路径规划与跟踪

摘要

In this paper,some typical home building planar structure pictures were chosen and converted into grid map by some image processing methods.A probabilistic roadmap path method is used to solve the robot's motion path after the grid map is obtained.The robot's expected path is set by the planning result,then a pure pursuit method is used to track this path.Illustrated by the example of a self-made three-wheel omni-directional mobile robot,the path tracking process was simulated and tested by computer and prototype.The results show that this method effectively completed the mission of domestic wheel mobile robot path planning and tracking in commercial environment.%选取典型的家庭房屋平面结构图,通过一系列图像处理方法将其转换为路径规划能够使用的栅格地图.获取栅格地图后,采用概率路线图法对机器人的运行路线进行规划,将规划获取的路径设为机器人的期望路径,并利用纯追踪法对该路径进行跟踪.以自制的三轮全向移动机器人为例,对轨迹跟踪过程进行了计算仿真和实物测试,结果显示本方法可有效完成家用环境的轮式移动机器人路径规划与轨迹跟踪任务.