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突破环境限制的导盲方法

DOI: 10.11834/jig.20151114

Keywords: 导盲机器人,多种环境,地图创建,路径规划

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Abstract:

目的目前的导盲机器人大都局限于特定的环境,难以适应环境变换,为使导盲机器人突破空间限制,在多种不同的环境中引导盲人,提出一种基于环境地图创建的导盲方法。方法首先,根据同步定位与制图算法(SLAM)创建2维环境地图并同步定位;然后,采用A*启发式算法在已知地图中进行静态全局路径规划,再结合人工势场法在导盲机器人行走过程中进行动态避障;最后,在机器人操作系统(ROS)框架下构建导盲机器人软件控制系统,各功能节点按照特定规则相互通讯,使控制系统更加有序高效。结果在3种典型的环境下进行实验,结果表明,与其他导盲方法相比,本文方法不再拘泥于单一的空间或特定的环境,适用范围更广也更灵活;此外,导盲精度也更高,地图创建过程中,特征总数达30个时,特征估计误差仅为5~35cm,行走多达12000步时,自身位置估计误差仅为0~3m,在路径规划过程中,导盲机器人路径长达100m时的轨迹误差仅在0.4m以下;相较而言,此方法更能满足日常导盲需要。结论本文提出的适用于多种环境的导盲方法,实验结果表明,该方法在多种环境中所创建的地图与实际场景相符,导盲机器人行走轨迹与规划路径基本一致,导盲精度相对较高,并且普遍地适用于视力障碍者日常活动的室内外区域,还能灵活地适应环境的变换,更具实用价值。

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