非结构环境下移动机器人路径规划  

Path Planning of Mobile Robot in Unstructured Environment

作　　者：姚俊武[1] 张林仙[1] 

机构地区：[1]黄石理工学院机电工程学院,湖北黄石435003

出　　处：《科技导报》2010年第22期82-85,共4页Science & Technology Review

摘　　要：非结构环境中的路径规划是自主移动机器人研究领域最活跃的领域之一,其最有效的方法是人工势场法,但传统的人工势场法存在振荡和接近目标时跟踪速度下降等问题。针对这些问题,改进了传统的势场函数,引入速度势场函数,设计新的人工势场函数,规划了移动机器人移动策略。根据新的势场函数和移动策略,在Matlab环境下对机器人的路径规划进行仿真。结果表明,在新的势场函数作用下,机器人能够快速调整自身速度的大小和方向,避开障碍并迅速到达目的地或跟踪动态目标。Path planning in unstructured environment is one of the most active problems on research field of autonomous mobile robot.some planning methods has been empoldered and applied successfully in this field,for example,artificial potential field,fuzzy logic algorithm,genetic algorithm,and so on.thereinto,artificial potential field is the most effective method,,but the traditional artificial potential field has several problems,such as oscillation,tracing speed falls while robot approaching.For solving these problems,some improvement has been done to traditional artificial potential field,velocity potential field has been brought into traditional potential field,a new potential field function have been designed,and a strategy of path planning has been planned.Many simulations on path planning with new potential field and path planning strategy have been done in Matlab.Simulation results about dynamic target tracing,multi static obstacles and dynamic obstacle avoiding have been given in this paper.The results of simulation have verified that robot can adjust its velocity to escape from obstacle,and move to immobile target quickly,or track dynamic target synchronously.

关 键 词：路径规划 非结构环境 人工势场 速度势场 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]