未知环境的移动机器人路径规划研究  

Research on Path Planning of Mobile Robot in Unknown Environment

作　　者：王海群 王水满 张怡 李硕辉 WANG Hai-qun;WANG Shui-man;ZHANG Yi;LI Shuo-hui(School of Electrical Engineering&Automation North China University of Science and Technology,Hebei Tangshan 063200,China)

机构地区：[1]华北理工大学电气工程学院,河北唐山063200

出　　处：《机械设计与制造》2021年第10期233-235,240,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金(61803154)。

摘　　要：为了提高移动机器人在未知环境中的路径规划的性能,提出了改进人工势场法。首先分析了传统人工势场法的优缺点,据此,提出了一种由模糊智能控制与改进人工势场法相结合算法。由模糊算法对静态障碍物进行避障,并改进引力函数将目标点速度、加速度信息加入其中对目标点进行跟踪,从而实现自动避障和路径规划。通过实验仿真对比可知,此算法在存在障碍物环境中,移动机器人可以寻得较短的路径和较快的时间,安全无碰撞的到达目标点,该算法的准确度可达96%。In order to improve the performance of the path planning of mobile robot in unknown environment,an improved artificial potential field method is proposed.Firstly,the advantages and disadvantages of the traditional artificial potential field method are analyzed.Based on this,an algorithm combining fuzzy intelligent control and improved artificial potential field method is proposed.By using the fuzzy algorithm to avoid the static obstacles,and improving the gravitational function,the target point speed and acceleration information are added to track the target point,so as to achieve automatic obstacle avoidance and path planning.Through the experimental simulation comparison,it is found that the mobile robot can find a short path and a faster time in the obstacles environment,and safely reach the target point without collision.The accuracy of this algorithm can reach 96%.

关 键 词：移动机器人 人工势场法 模糊控制 路径规划 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]