基于改进人工势场的瓦斯探测机器人的路径规划研究  

Study on Path Planning of Gas Detection Robot Based on Improved Artificial Potential Field

作　　者：祁永强 程梦红 孙小易 QI Yongqiang;CHENG Menghong;SUN Xiaoyi(School of Mathematics, China University of Mining and Technology,Xuzhou 221008,China)

机构地区：[1]中国矿业大学数学学院

出　　处：《徐州工程学院学报（自然科学版）》2019年第2期45-49,共5页Journal of Xuzhou Institute of Technology(Natural Sciences Edition)

基　　金：国家自然科学基金项目(61304088);中央高校基本科研基金项目(2013QNA37);中国博士后科学基金第57批面上资助项目(2015M581887);中国矿业大学大学生创新创业训练计划项目(201810412)

摘　　要：考虑机器人的工作效率低问题,对传统人工势场法的引力函数进行分段,避免了引力随距离减小而减小的情况.针对瓦斯探测机器人在路径规划过程中存在的目标不可达问题,对传统人工势场法的斥力势场函数进行改进,增加一个与机器人、目标点间距离有关的调节因子,在目标点附近减小斥力对机器人的作用,确保机器人顺利到达目标点.仿真结果验证了算法的有效性.Considering the low efficiency of robot,gravitational function of the traditional artificial potential field method is segmented to avoid the decrease of gravity with the decrease of distance.Aiming at the problem of target inaccessible of the gas detection robot in the path planning process,the repulsive function is improved,and an adjustment factor related to the distance between the robot and the target point is added to reduce the effect of repulsive force on the robot near the target point,so as to ensure that the robot reaches the target point smoothly.The simulation results verify the effectiveness of the algorithm.

关 键 词：瓦斯探测机器人 分段引力函数 调节因子 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]