改进人工势场法在移动机器人路径规划中的应用  

Application of Improved Artificial Potential Field Method in Path Planning of Mobile Robots

作　　者：胡杰 张华[1] 傅海涛 卢成锦 HU Jie;ZHANG Hua;FU Haitao;LU Chengjin(Key Laboratory of Robot and Welding Automation of Jiangxi,Nanchang University,Nanchang Jiangxi 330031,China)

机构地区：[1]南昌大学江西省机器人与焊接自动化重点实验室,江西南昌330031

出　　处：《机床与液压》2021年第3期6-10,共5页Machine Tool & Hydraulics

基　　金：国家863计划资助项目(2013AA041003)。

摘　　要：为解决传统人工势场法在路径规划中存在的缺陷,对目标不可达和局部极小点的情况进行了分析。将引力函数分段,避免引力过大而碰到障碍物的情况;通过引入机器人与目标点之间的距离因子,对斥力势场的生成和计算机制进行改进,以解决障碍物在目标点附近时的不可达问题。在已改进人工势场函数的基础上,提出一种用偏转角度来构建附加牵引力的方法以解决局部极小点问题。在MATLAB中对改进的算法进行了对比仿真实验,实验结果表明了该方法的有效性和可行性。In order to solve the problems of traditional artificial potential field method in path planning, the situations of target unreachable and local minimum points were analyzed. The gravitational function was segmented to avoid the situation that the gravitational force was too large to encounter obstacles. By introducing the distance factor between the robot and the target point, the generation and calculation mechanism of the repulsive force potential field were improved to solve the problem of unreachable target when the obstacle was near the target point. Based on the improved artificial potential field function, a new method of constructing additional traction force by deflection angle was proposed to solve the local minimum point problem. The improved algorithm was compared and simulated in MATLAB.The experimental results show the effectiveness and feasibility of the proposed method.

关 键 词：移动机器人 人工势场法 路径规划 偏转角度 距离因子 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]