论文标题
使用Raspberry Pi的自动机器人的路径规划和避免障碍计划
Path Planning and Obstacle Avoidance Scheme for Autonomous Robots using Raspberry Pi
论文作者
论文摘要
随着机器人平台的增量开发以自动化手动流程，道路计划已成为一个关键领域，无论有没有了解室内和室外环境。该算法可以是智能的，也可以是预先结构的，应该有效地最佳地到达目的地。该领域的主要挑战是找到一条没有静态障碍和动态障碍的路径。在本文中，提出了一种方法，其中提出了机器人平台的实现详细信息，以涵盖关键关键点并在动态环境中到达原始关键点。主要计算发生在覆盆子PI B+模块内，指南针，车轮编码器和超声传感器用于将机器人定位到相关的关键点的实现中。
With the incremental development of robotic platforms to automate the manual processes, path planning has become a critical domain with or without the knowledge of the indoor and outdoor environment. The algorithms can be intelligent or pre-structured and should optimally reach the destination efficiently. The major challenge in this domain is to find a path which is free from static obstacles as well as dynamic obstacles. In this paper, a methodology is proposed with the implementation details of the robotic platform to cover the critical key points and to arrive at the original key point in a dynamic environment. The main computation is happening inside a Raspberry Pi B+ module, and compass, wheel encoders and ultrasonic sensors were used in the implementation for the localization of the robot to relevant key points.
