人工势场法局部极小值的研究  

Research on Local Minima of Artificial Potential Field Method

作　　者：郜辉[1] 吕志刚[1] 王宾[1] 夏开成 毛琳 王辛 李彬[1] GAO Hui;LYU Zhigang;WANG Bin;XIA Kaicheng;MAO Lin;WANG Xin;LI Bin(School of Electronic Information Engineering, Xi’an Technological University, Xi’an 710021,China)

机构地区：[1]西安工业大学电子信息工程学院,陕西西安710021

出　　处：《机械与电子》2020年第12期24-28,共5页Machinery & Electronics

基　　金：西安市科技计划项目(2020KJRC0033);陕西省自然科学基础研究计划项目(2020JQ816)。

摘　　要：以人工势场法的局部极小值问题为研究对象,对人工势场法局部极小值进行算法改进。首先,研究了人工势场法的原理,分析了产生局部极小值的原因;其次,对增加障碍物斥力、“绕墙走”方式、自动添加子目标点、手动添加子目标点等4种方法进行了理论分析;最后,使用MATLAB对4种解决方法进行了仿真验证,结果表明手动添加子目标点的改进方式较优。Taking the local minimum problem of artificial potential field method as the research object,the algorithm improves the local minimum content of the artificial potential field method.Firstly,the principle of artificial potential field method is studied,and the causes of local minimum are analyzed.Secondly,four solutions of increasing obstacle repulsion force,“walking around the wall”,automatically adding subtarget points and manually adding subtarget points are analyzed theoretically.MATLAB is used to simulate the four solutions,and the results show that the improvement method of manually adding subtarget points is better.

关 键 词：人工势场法 局部极小点 子目标点 障碍物 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]