改进人工势场法的机器人避障及路径规划  

Improved Robotic Path Planning Based on Artificial Potential Field Method

作　　者：任彦[1] 赵海波 REN Yan;ZHAO Hai-bo(Inner Mongolia University of Science and Technology,School of Information Engineering,Baotou Inner Mongolia 014010,China)

机构地区：[1]内蒙古科技大学信息工程学院,内蒙自治区包头014010

出　　处：《计算机仿真》2020年第2期360-364,共5页Computer Simulation

基　　金：国家自然科学基金(61563041)。

摘　　要：针对机器人在传统人工势场避障过程中出现目标不可达和陷入极值点导致停滞不前的问题,通过改进传统人工势场的斥力场结构,解决目标不可达问题。在传统人工势场原有目标点产生的吸引力前提下,提出一种对比阀值,建立虚拟牵引点的方法,解决局部极小问题,增加快速函数提高机器人的运动速率,以克服机器人在障碍物附近出现的反复震荡或停止不前。为了验证上述方法的有效性,用MATLAB软件进行仿真,结果表明机器人运动轨迹平滑,接近最优路径。Aiming at the problem of the robot that is in the process of obstacle avoidance in the traditional artificial potential field,the target is unreachable and the extreme point leads to stagnation.Under the premise of the original target point of the traditional artificial potential field,by improving the repulsive field structure of the traditional artificial potential field,the problem of target unreachability is solved.A comparison threshold is proposed to establish a virtual traction point,which solves the local minimum problem and increases the fast function to increase the robot's motion rate to overcome the repeated oscillation or stop of the robot near the obstacle.In order to verify the effectiveness of this method,simulation experiments with MATLAB software show that the robot's motion trajectory is smooth and close to the optimal path.

关 键 词：人工势场 路径规划 目标不可达 机器人 虚拟牵引点 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]