基于人工势场法的路径规划方法研究及展望  

Research and development trend of path planning based on artificial potential field method

作　　者：张殿富[1] 刘福[1] 

机构地区：[1]武警工程大学通信与信息技术研究所,陕西西安710086

出　　处：《计算机工程与科学》2013年第6期88-95,共8页Computer Engineering & Science

摘　　要：人工势场方法因其简单、高效、生成路径平滑的特点,在机器人路径规划领域得到了广泛的应用。首先介绍了基于传统人工势场模型的路径规划基本原理,并对其存在的易陷入局部极小值的问题进行了详细分析;然后重点讨论和总结了针对目标不可达、易陷入徘徊抖动状态、动态环境规划能力不足等问题的改进策略;最后对基于人工势场的路径规划方法的发展方向进行了展望。The artificial cause of its simpleness, hig po h tential field method is used in mobile robot path planning extensively be- efficiency and smooth path. In this paper, the principle of path planning based on artificial potential field model was introduced and its main shortage is also analyzed detailedly. Then, the methods of resolution to the main problems are discussed, which contain GNRON, loiter and jitter phenomenon and poor adaptive ability in dynamic environment. Finally, technology development trends of robot path planning based on artificial potential field are given.

关 键 词：移动机器人 路径规划 人工势场 局部极小 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]