基于改进人工势场算法的CT扫描床路径规划算法  

CT Couch Path Planning Algorithm Based on Improved Artificial Potential Field Algorithm

作　　者：华宇宁 郜鹏 HUA Yuning;GAO Peng(Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学自动化与电气工程学院,沈阳110159

出　　处：《沈阳理工大学学报》2023年第3期35-40,共6页Journal of Shenyang Ligong University

基　　金：国防重点实验室基金项目(6142107190207)。

摘　　要：针对CT机扫描床与龙门扫描架协同工作过程中出现的运动干涉问题,提出一种改进的人工势场算法,解决传统人工势场算法对CT扫描床与扫描龙门架进行路径规划时目标不可达及陷入局部最优解的问题,从而使CT扫描床能按照预期要求到达预扫点位置。首先,在引力势场函数中加入扫描床与扫描龙门架最大影响范围的距离函数、在斥力势场函数中加入扫描床与目标点的距离函数,解决传统人工势场算法的目标不可达问题;然后,通过增设扫描床虚拟位置点解决局部最优解问题。Matlab仿真实验结果表明:改进的人工势场算法能在最大迭代次数内更好完成CT扫描床运动过程的动态避障,验证了改进算法的有效性。Aiming at the problem of motion interference in the process of CT Couch and Scanning gantry working together,an improved artificial potential field algorithm is proposed,which solves the problem that the target is not reachable and falls into the local optimal solution when the traditional artificial potential field algorithm plans the path between CT Couch and Scanning gantry,so that the CT Couch can reach the prescanning point according to the expected requirements.Firstly,the distance function of the maximum influence range between the CT Couch and the scanning gantry is added to the gravitational potential field function,and the distance function between the CT Couch and the target point is added to the repulsive potential field function,which solvesthe problem of the target inaccessibilitythe traditional artificial potential field algorithm;Then,the problem of local optimal solution is solved by adding virtual position points of the CT Couch.Finally,the simulation experiment is carried out in Matlab.The experimental results show that the improved artificial potential field algorithm can better complete the dynamic obstacle avoidance of CT Couch in the movement within the maximum number of iterations,which verifies the effectiveness of the improved algorithm.

关 键 词：CT扫描床 人工势场算法 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]