计算机科学 ›› 2025, Vol. 52 ›› Issue (9): 320-329.doi: 10.11896/jsjkx.240700167
董敏, 谭皓禹, 毕盛
DONG Min, TAN Haoyu, BI Sheng
摘要： 在机器人领域中,安全地通过狭窄环境是机器人自主可靠地执行导航任务的关键之一。对于多种误差源导致的机器人无法安全通过狭窄环境的问题,提出了面向狭窄环境的机器人室内导航系统。该系统在导航过程中根据地图中障碍物与全局路径的几何关系标记狭窄环境,并生成合适通行位姿对;机器人出入被标记的狭窄环境时自动切换导航策略,以自适应环境;在狭窄环境导航策略中,全局成本地图膨胀化,以规划更安全的全局路径,机器人根据合适通行位姿分段规划全局路径,目的为提前调整位姿以减少在狭窄环境中的转向需求,并通过将最优控制问题转换为最小二乘问题的思想优化MPC路径跟踪方法,用于代替局部轨迹规划方法计算轨迹,防止局部轨迹碰撞误判导致导航失败。仿真及真实环境实验结果表明,该系统能够有效提升机器人面对狭窄环境时的通过率,使机器人更加安全稳定地执行导航任务。
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