基于人工势场算法的路径规划研究  

Research on Path Planning Based on Artificial Potential Field Algorithm

作　　者：贾昌麟[1] 卢虎平 

机构地区：[1]甘肃林业职业技术学院机电工程学院,甘肃天水741020

出　　处：《大众科技》2023年第6期5-8,共4页Popular Science & Technology

摘　　要：人工势场法作为一种经典局部避障算法,被广泛用于自主移动机器人的局部路径规划,具有原理简单、数学模型简洁、规划路径平滑以及计算速度快等优势;但算法本身存在着局部极小值、目标不可达以及复杂环境下路径规划能力不足等问题。因此,文章对局部极小值、目标不可达,以及复杂环境下路径规划能力不足问题进行阐述,并且归纳总结算法固有缺陷问题的改进策略和复杂环境下的规划能力不足问题的改善策略,分析了路径规划所得路径的质量。As a classical local obstacle avoidance algorithm,artificial potential field method is widely used in local path planning of autonomous mobile robots.It has the advantages of simple principle,concise mathematical model,smooth planning path,and fast calculation speed.However,the algorithm itself has problems such as local minima,unreachable targets,and insufficient path planning ability in complex environments.Therefore,this paper expounds the problems of local minimum,unreachable target,and insufficient path planning ability in complex environment.It summarizes the improvement strategies for the inherent defects of algorithms and the insufficient planning ability in complex environments,and analyzes the quality of the paths obtained from path planning.

关 键 词：人工势场算法 局部极小值 目标不可达 路径质量 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]