路径规划和避障算法 [英] Path planning and Obstacle avoidance algorithms

问题描述

我工作的一个二维空间，我的机器人需要遵循的轨迹，同时避免一些障碍。

I am working on a 2D space where my robot needs to follow a trajectory while avoiding some obstacles.

我最近读到的方法路径规划为矢量场柱状图和动态窗口方法。

I've read recently about methods for path planning as "Vector Field Histogram" and the "Dynamic window approach".

是否值得使用这些类型的算法二维空间或我应该去的东西作为潜在的字段或快速，探索随机树？

Is it worth to use these kind of algorithms for a 2D space or should I go with something as Potential Fields or Rapidly-Exploring Random Trees?

推荐答案

有三个字段，你必须要知道的。路径规划，运动规划和避障。这三者的组合通常被称为导航。

There are three fields you have to be aware of. Path planning, motion planning and obstacle avoidance. The combination of these three is usually referred to as "Navigation".

路径规划是用来构造来给定一个完全，部分或动态图结束点从起点的路径的过程。运动规划是由您定义的组需要执行按照规划好的路径的操作过程。避障，顾名思义，是用来避免与导航过程中的障碍发生碰撞。

Path planning is the process you use to construct a path from a starting point to an end point given a full, partial or dynamic map. Motion planning is the process by which you define the set of actions you need to execute to follow the path you planned. Obstacle avoidance, as the name suggests, is used to avoid colliding with obstacles during the navigation process.

要建立一个高效，可靠的导航方法，您需要：    - 对你正在试图驾驭环境的一个清晰的概念（地图+最小间隙）    - 确定你的机器人的运动模型和动态    - 开发一个闭环控制系统，构造了一个路径，并遵循它准确地

To develop an efficient and reliable navigation method, you need to: - Have a clear idea about the environment you are trying to navigate (map + minimum gaps) - Determine the motion model and dynamics of your robot - Develop a closed loop control system that constructs a path and follows it accurately.

例如，如果你的环境是静态的（没有什么变化），有足够的空间和大开口，而你试图将一个相对较小的机器人（10×10厘米）。那么很可能你并不需要把重点放在避障，只要你的路走在空间的中间，和你准确地执行你的行动。

For instance, if your environment is static (nothing changes), with plenty of space and large openings, and you are trying to move a relatively small robot (10x10 cm). Then probably you don't need to focus on obstacle avoidance as long as your paths go in the middle of the space, and you execute your actions accurately.

多数，您使用的是高层次规划师来构建一个全球性的路径，和本地规划师（VFH，ND，...）作为运动控制器和避障在当地的规模。有大量的文献在这一方面。你可以看看我的一些文章在这里： http://tarektaha.com /tarektaha.com/download.php?list.4 ，并使用一些code我开发作为参考这里：的 http://tarektaha.com/tarektaha.com/download.php?list.6

Majority of the cases, you use a high level planner to construct a global path, and a local planner (VFH, ND, ...) to act as the motion controller and the obstacle avoidance in a local scale. There is plenty of literature on that front. You can have a look at some of my papers here : http://tarektaha.com/tarektaha.com/download.php?list.4 , and use some of the code I developed as reference here : http://tarektaha.com/tarektaha.com/download.php?list.6

好运气

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