Algorithm Research & Explore
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745-749,762

Research on autonomous navigation system of warehousing mobile robot based on improved artificial potential field method in dynamic environment

Luo Qiang1a,1b
Wang Haibao1a,1b
Cui Xiaojing1a
Xu Hongze2
1. a. College of Mechanical Engineering, b. Chongqing Engineering Technology Research Center for Light Alloy & Processing, Chongqing Three Gorges University, Chongqing 404100, China
2. School of Electronic & Information Engineering, Beijing Jiaotong University, Beijing 100044, China

Abstract

In order to solve the problems of warehousing mobile robots autonomous navigation in full dynamic environment, this paper established a mathematical model of robots and dynamic obstacles, designed a platform of environmental awareness based on 2-dimensional lidar, and proposed an improved artificial potential field method. In the traditional artificial potential field method, it introduced the relative speed and relative acceleration to obtain an improved artificial potential field model, which could realize the autonomous movement of the robot in full dynamic environment. It verifies that the improved artificial potential field method is used to plan path, which can effectively avoid the dynamic obstacles and track the dynamic target, and the movement path is smooth.

Foundation Support

重庆市教委科技基金资助项目(KJ1601032,KJQN201901238,KJZDK201901202)
重庆市科学技术委员会基础科学与前沿技术项目(cstc2017jcyjA1543)
重庆三峡学院青年项目(19QN06)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2018.09.0640
Publish at: Application Research of Computers Printed Article, Vol. 37, 2020 No. 3
Section: Algorithm Research & Explore
Pages: 745-749,762
Serial Number: 1001-3695(2020)03-023-0745-05

Publish History

[2020-03-05] Printed Article

Cite This Article

罗强, 王海宝, 崔小劲, 等. 动态环境下改进人工势场法的仓储机器人自主导航系统研究 [J]. 计算机应用研究, 2020, 37 (3): 745-749,762. (Luo Qiang, Wang Haibao, Cui Xiaojing, et al. Research on autonomous navigation system of warehousing mobile robot based on improved artificial potential field method in dynamic environment [J]. Application Research of Computers, 2020, 37 (3): 745-749,762. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


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