影响因子：2.2
所属单位：北京航空航天大学
发表刊物：International Journal of Dynamics and Control
关键字：Dynamic obstacle avoidance，· Time-aligned prediction，· EKF ，· Motion prediction
摘要：Existing obstacle avoidance algorithms mostly treat dynamic obstacles as short-term static ones without considering their motion states. This limitation results in a great loss of computational resources and obstacle avoidance effectiveness for the robots. A time-aligned prediction (TAP) method is proposed in this paper. This method achieves the prediction of obstacle movements by incorporating time-aligned prediction into dynamic window approach (DWA) method. Firstly, the TAP method predicts the stable motion of obstacles within a near-term time window via extended Kalman filter. Time stamps are added to the future motion trajectories of robots and obstacles to achieve time-aligned prediction. Then, the collision detection module is proposed to use the same time stamps for calculating the distance between the robot and obstacles. Finally, the TAP method integrates time-aligned prediction into the optimal trajectory objective function to refine the evaluation metrics of robot motion trajectories. In 500 random obstacle avoidance experiments, compared with DWA, the TAP method reduced the average time to avoid ten dynamic obstacles and reach the destination by 12.23%. The effectiveness of TAP method has been further validated through simulations and real-world experimental scenarios. The results indicate that the TAP method can improve the obstacle avoidance success rate and efficiency.
论文类型：期刊论文
一级学科：机械工程
文献类型：期刊
是否译文：否
发表时间：2025-04-22
收录刊物：SCI