改进人工势场法的移动机器人路径规划研究  

Research on Improved Artificial Potential Field Approach in Local Path Planning for Mobile Robot

作　　者：梁献霞 刘朝英 宋雪玲 张英坤[2] LIANG Xian - xia;LIU Chao - ying;SONG Xue - ling;ZHANG Ying - kun(Department of Electrical and Information, Hebei University of Science and Technology, ShiJiazhuang Hebei 050018, China;Institute of Applied Mathematics, Hebei Academy of Science, Shijiazhuang Hebei 050081, China)

机构地区：[1]河北科技大学电气工程学院,河北石家庄050018 [2]河北省科学院应用数学研究所,河北石家庄050081

出　　处：《计算机仿真》2018年第4期291-294,361,共5页Computer Simulation

摘　　要：在室内移动机器人路径规划研究中,人工势场法是其常用方法之一。针对传统人工势场法进行规划时,会出现局部极小点问题,分析由此导致路径规划失败的原因。在改进的势函数基础上,提出通过扇区划分的方法,在移动机器人陷入局部极小点周围适当范围内增加虚拟障碍物,使其和原障碍物及目标点共同作用下对移动机器人产生作用力。这样,能够解决传统人工势场法中出现的局部极小点情况。最后,在MATLAB环境下进行仿真,其结果验证了上述方法的有效性。The artificial potential field method is one of the most common approaches in the research of path plan- ning for indoor mobile robots. Aiming at the problem of local minimum point in the traditional artificial potential field approach, this paper analyzes the path planning failure reasons. Based on the improved potential field function, this paper proposes the approach of sector division to increase the virtual obstacle in appropriate range around the local minimum point. Under the combined action of the original obstacles and the target point, the force to mobile robot is generated. In this way, it can solve the problem of the local minimum in the traditional artificial potential field approach. Finally, the simulation results show the effectiveness of the proposed approach in the MATLAB environment.

关 键 词：移动机器人 路径规划 人工势场法 局部极小点 扇区划分 虚拟障碍物 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]