基于PSO和人工势场的机器人路径规划  

Path planning of mobile robots based on PSO and APF

作　　者：肖本贤[1] 李善寿[1] 王晓伟[1] 朱志国[1] 

机构地区：[1]合肥工业大学电气与自动化工程学院,安徽合肥230009

出　　处：《合肥工业大学学报（自然科学版）》2007年第6期718-722,共5页Journal of Hefei University of Technology：Natural Science

摘　　要：文章提出了一种变形Gaussian函数作为势场模型,它能更准确地反映势场环境;通过分析震荡现象产生的原因,以及局部极小值点的特点,将粒子群算法引入到路径规划过程中,用于绕过障碍物或逃逸局部极小值;仿真结果表明,该方法能有效消除运动路径的震荡现象,极大地降低了陷入局部极小值的概率。In this study, a transformative Gaussian function for improving the expression of the potential environment is proposed. Based on analyzing the cause of oscillation and the character of the robot path in a local minimum, particle swarm optimization（PSO） is integrated into the process of path planning to escape from local minima and avoid the obstacle. Simulation results indicate that the pres- ented method is effective in eliminating the oscillation and decreasing the probability of being trapped in local minima.

关 键 词：人工势场法 粒子群算法 路径规划 变形Gaussian函数 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]