改进人工势场法在未知环境中的路径规划研究  

Research on Path Planning of Improved Artificial Potential Field Method in Unknown Environment

作　　者：陈冠星 张志安[1] 黄学功[1] 华洪 施振稳 CHEN Guanxing;ZHANG Zhi’an;HUANG Xuegong;HUA Hong;SHI Zhenwen(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械与电子》2021年第5期74-80,共7页Machinery & Electronics

摘　　要：针对机器人路径规划中路径震荡的问题,提出添加角度过滤器的方法减轻路径震荡的程度,利用在计算引力时采用不同增益系数的方法进一步减轻了路径震荡。而对于局部极小点问题,提出采用添加虚拟目标点的方法引导机器人走出陷阱区域。最后,在MATLAB环境下进行仿真,仿真结果表明改进算法的有效性。Aiming at the problem of path oscillation in robot path planning,the method of adding angle filter is proposed to reduce the degree of path oscillation,and the method of using different gain coefficients to calculate gravity is used to further reduce path oscillation.Aiming at the problem of local minimum point,the method of adding virtual target point is proposed to guide the robot out of the trap area.Finally,the simulation results show the effectiveness of the improved algorithm in the MATLAB environment.

关 键 词：人工势场法 未知环境 角度过滤器 路径震荡 虚拟目标点 局部极小点 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]