Computer Science

Computer Science ›› 2020, Vol. 47 ›› Issue (11A): 111-115.doi: 10.11896/jsjkx.200800068

• Artificial Intelligence • Previous Articles     Next Articles

Realtime Multi-obstacle Avoidance Algorithm Based on Dynamic System

WANG Wei-guang1, YIN Jian2, QIAN Xiang-li1, ZHOU Zi-hang3   

  1. 1 School of Intelligent Engineering,Shandong Management University,Jinan 250357,China
    2 School of Civil Engineering,Henan Polytechnic University,Jiaozuo,Henan 454003,China
    3 School of Electrical and Electronic Engineering,Hubei University of Technology,Wuhan 430068,China
  • Online:2020-11-15 Published:2020-11-17
  • About author:WANG Wei-guang,born in 1980,postgraduate,lecture,is a member of China Computer Federation.His main research interests include information secu-rity and intelligent algorithm.
  • Supported by:
    This work was supported by the Young Scientists Fund of the National Natural Science Foundation of China(11705103),Key R&D Project of Shandong Province(2019GGX105013) and “Sailing” Program of Shandong Management University Scientific Research (QH2020Z08).

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Abstract: With the increasing application of autonomous robot control,the risk of dynamic interference in the working area also increases.Aiming at the problem of real-time obstacle avoidance of robots in the workspace,this paper proposes a realtime multi-target avoidance algorithm based on dynamic system.Firstly,the modulation model of the dynamic system is constructed,then the modulation matrix is set up,then the obstacle avoidance path is constructed,and finally the multi-obstacle dynamic avoidance model is proposed.This algorithm no longer takes the prior analysis of obstacles as a prerequisite,but directly calculates the mo-dulation matrix according to the obstacles in the current scene,and uses the dynamic system modulation method to realize the impenetrability representation of obstacles without changing the equilibrium point of the dynamic system.In the simulation experiment,aiming at the problem of avoiding spatial attachment obstacles,the continuous modulation algorithm(CM) is used to compare and simulate with the proposed algorithm,and the effectiveness of the algorithm is verified.Finally,the simulation results show that the algorithm can effectively solve the problem of static multi-obstacle and dynamic multi-obstacle avoidance path planning.

Key words: Dynamical system, Multi-obstacles, Path planning, Realtime obstacle avoidance, Space robot

CLC Number: 

  • TP391
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