基于预添加虚拟力的改进人工势场算法  

The improved artificial potential field algorithmbased on pre-added virtual force

作　　者：张佳尚 陈志华[1] ZHANG Jiashang;CHEN Zhihua(National Key Laboratory of Transient Physics,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学瞬态物理国家重点实验室,南京210094

出　　处：《兵器装备工程学报》2023年第3期219-225,共7页Journal of Ordnance Equipment Engineering

摘　　要：针对传统人工势场法在路径规划时会因目标点与障碍物的位置原因,出现引力与斥力合力为零而陷入局部最优点无法脱离的现象,提出了引入虚拟力辅助人工势场摆脱局部最优点的方法。改进算法首先将预添加的虚拟力细化等分为8个方向,再根据虚拟力与人工势场的势场力合力重新规划轨迹,在选择合适的时机撤去虚拟力后会获得多条新轨迹,然后根据每条新规划的轨迹情况,去除不合理的轨迹。最后计算出所有可行的预添加虚拟力方向的轨迹长度,选择出最优的轨迹。通过设置的五组仿真实验获得改进算法与传统人工势场法仿真结果的对比,验证了改进算法在面对单个障碍物与多障碍物的复杂环境下都能够解决传统人工势场法的缺陷,规划出合理的路径,可以有效地解决复杂环境下传统人工势场法适应性差等问题,证明了通过预添加虚拟力对传统人工势场法进行改进的可行性与有效性。In order to solve the problem that the traditional artificial potential field algorithm falls into the local optimal point caused by zero resultant force of attraction and repulsion due to the position of target points and obstacles in path planning,this paper puts forward a method of introducing virtual force to assist the artificial potential field to get rid of the local optimal point.At first,the improved algorithm evenly divides the pre-added virtual force into eight directions,and then re-plans the trajectory according to the resultant force of the virtual force and the potential field force.After selecting the right time to remove the virtual force,this paper obtains a number of new trajectories,and then removes the unreasonable ones according to each newly planned trajectory.Finally,the track lengths of all feasible pre-added virtual force directions are calculated,and the optimal track is selected.Through the comparison of the results of the improved algorithm and the traditional artificial potential field method obtained from the five sets of simulation experiments,it is verified that the improved algorithm can solve the defects of the traditional artificial potential field algorithm in the complex environment of a single obstacle and multiple obstacles.The improved algorithm can also plan a reasonable path which can effectively solve the problems like poor adaptability of the traditional artificial potential field algorithm in a complex environment.All these results prove that it is feasible and effective to improve the traditional artificial potential field algorithm by pre-added virtual force.

关 键 词：人工势场法 预添加虚拟力 路径规划 改进算法 移动机器人 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]