基于控制方向角改进势场法的移动机器人路径规划  

Path Planning of Mobile Robot Based on Improved Directional Field Method with Control Direction Angle

作　　者：耿双乐 管启 GENG Shuangle;GUAN Qi(School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200082)

机构地区：[1]上海理工大学光电信息与计算机工程学院,上海200082

出　　处：《计算机与数字工程》2019年第5期1110-1114,共5页Computer & Digital Engineering

基　　金：国家自然科学基金项目(编号:61603255);上海市高校能力建设基金(编号:15550502500)资助

摘　　要：针对传统人工势场所存在的目标点不可达问题,论文提出一种匀速模型下变换角度牵引的方法进行路径规划。通过将传统势场虚拟力的控制转化为角度方向控制,再以目标点为中心设定半圆作为阈值检测范围。当移动机器人在检测范围之外,通过势场的合力角牵引规划。当移动机器人进入检测半圆之内,直到其满足所设定的安全距离要求时,合力角将变换为引力角并直接将机器人牵引到达至目标点。最后通过仿真结果显示,论文提出的路径规划算法不仅可以成功地解决机器人目标规划中的避障问题,还可以解决传统势场法中机器人无法到达目标点的问题。In order to solve the problem of target point inaccessibility existing in traditional artificial potential sites,this paper proposes a uniform speed model for down-conversion angle traction method for path planning. By transforming the control of the tra. ditional potential field virtual force into an angular direction control,then a semicircle is set around the target point as the threshold detection range. When the mobile robot is outside the detection range,the planning is performed by the resultant force angle of the potential field. When the mobile robot enters the detection semicircle until it meets the set safety distance requirement,the resultant force angle will be converted into a gravitational angle and the robot will be directly pulled to reach the target point. Finally,the sim. ulation results show that the path planning algorithm proposed in this paper not only can successfully solve the obstacle avoidance problem in the robot target planning,but also can solve the problem that the robot cannot reach the target point in the traditional po. tential field method.

关 键 词：路径规划 角度牵引 阈值处理 安全距离 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]