基于改进人工势场法的机器人避障及路径规划研究  

Research on Robot Obstacle Avoidance and Path Planning Based on Improved Artificial Potential Field Method

作　　者：徐飞[1] 

机构地区：[1]西安工业大学计算机科学与工程学院,西安710021

出　　处：《计算机科学》2016年第12期293-296,共4页Computer Science

基　　金：国家自然科学基金(61572392);陕西省教育厅科学研究计划项目(15JK1364);西安工业大学校长基金(XAGDXJJ1217)资助

摘　　要：在不确定和复杂的移动环境中,利用传统的人工势场法进行机器人避障很难满足对环境动态适应性的需要。提出了一种相对速度的改进的人工势场法,针对于传统的路径规划中局部最小值问题,提出设置中间目标点的方法,给机器人一个外力以避免其在局部最小点处停止或者徘徊,确保机器人能够逃出最小值陷阱并顺利到达目标位置。最后在Matlab平台上进行了仿真实验,实验结果表明,改进后的人工势场法能较好地实现动态环境下移动机器人的路径规划。In uncertain and complicated mobile environment, the use of traditional artificial potential field method for robot obstacle avoidance is difficult to meet the needs of the dynamic adaptation to the environment. An improved artificial potential field method of relative speed was proposed. To solve the problem of local minimum in the traditional path planning, the improved artificial potential field method put forward setting intermediate target. An external force is given to the robot to avoid robots stopping or wandering in a local minimum point. It ensures that the robot can escape from the minimum trap and smoothly arrive at the target location. Finally, in the Matlab platform, to verify the effectiveness of the method, simulation experiment was carried out. The experimental results show that the improved artificial poten- tial field method can well realize the path planning for mobile robot in dynamic environment.

关 键 词：人工势场法 避障 中间目标点 路径规划 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]