动态环境下自主机器人的双机制切向避障
章一鸣,姚文广,陈海进

Dual-mechanism tangential obstacle avoidance of autonomous robots in dynamic environment
Yiming ZHANG,Wenguang YAO,Haijin CHEN
表 2 避障角补偿语义对照表
Tab.2 Semantic comparison table of obstacle avoidance angle compensation
输入参数语义输入参数语义输出参数语义
$d \in \left[ {{\text{0}}{\text{.00}},{\text{0}}{\text{.04}}} \right) \;{\mathrm{m}}$HJ(很近)$ |\gamma |\in \left[{54}^{\circ },{72}^{\circ }\right) $JD(较大)$\varepsilon \in \left[ {0,2} \right)$ZE(零)
$d \in \left[ {{\text{0}}{\text{.40,2}}{\text{.00}}} \right)\;{\mathrm{m}} $JJ(较近)$ |\gamma |\in \left[{72}^{\circ },{90}^{\circ }\right] $HD(很大)$\varepsilon \in \left[ {2,4} \right)$PS(小)
$ d\in \left[\text{2}\text{.00},\text{4}\text{.00}\right)\;{\mathrm{m}} $SZ(适中)${V_{{\text{rel}}}} \in \left[ {{\text{0}}{\text{.00,0}}{\text{.08}}} \right){\mathrm{m}}\cdot {\mathrm{s}}^{-1}$HX(很小)$\varepsilon \in \left[ {4,6} \right)$MD(中)
$ d\in \left[\text{4}\text{.00},\text{6}\text{.00}\right)\;{\mathrm{m}} $JY(较远)${V_{{\text{rel}}}} \in \left[ {{\text{0}}{\text{.08,0}}{\text{.16}}} \right){\mathrm{m}}\cdot {\mathrm{s}}^{-1} $JX(较小)$\varepsilon \in \left[ {6,8} \right]$PB(大)
$ d\in \left[\text{6}\text{.00},\text{10}\text{.00}\right]\;{\mathrm{m}} $HY(很远)${V_{{\text{rel}}}} \in \left[ {{\text{0}}{\text{.16,0}}{\text{.24}}} \right){\mathrm{m}}\cdot {\mathrm{s}}^{-1} $SZ(适中)
$ |\gamma |\in \left[{0}^{\circ },{18}^{\circ }\right) $HX(较小)${V_{{\text{rel}}}} \in \left[ {{\text{0}}{\text{.24,0}}{\text{.32}}} \right){\mathrm{m}}\cdot {\mathrm{s}}^{-1} $JD(较大)
$ |\gamma |\in \left[{18}^{\circ },{36}^{\circ }\right) $JX(较小)${V_{{\text{rel}}}} \in \left[ {{\text{0}}{\text{.32,0}}{\text{.40}}} \right){\mathrm{m}}\cdot {\mathrm{s}}^{-1} $HD(很大)
$ |\gamma |\in \left[{36}^{\circ },{54}^{\circ }\right) $SZ(适中)