改进人工势场法机器人避障路径规划研究  

Research on Robot Obstacle Avoidance Path Planning Based on Improved Artificial Potential Field Method

作　　者：高飞翔 郝万君[1] 吴宇 孙诚 GAO Fei-xiang;HAO Wan-jun;WU Yu;SUN Cheng(School of Electronic Information and Engineering,Suzhou University of Science and Technology,Suzhou Jiangsu 215009,China;School of Physics Science and Technology,Suzhou University of Science and Technology,Suzhou Jiangsu 215009,China)

机构地区：[1]苏州科技大学电子与信息工程学院,江苏苏州215009 [2]苏州科技大学物理科学与技术学院,江苏苏州215009

出　　处：《计算机仿真》2023年第9期431-436,442,共7页Computer Simulation

基　　金：国家自然科学基金(51477109,61703296)。

摘　　要：针对机器人在复杂地形中采用传统人工势场法(Traditional Artificial Potential Field, TAPF)进行路径规划时会出现合力平衡导致目标不可达问题,提出改进传统斥力场函数,引入机器人与障碍物动态距离参数及调节因子系数解决目标不可达;针对遇到L形等复杂型障碍物出现振荡,易陷入局部最小值的问题,提出自适应切线偏转角法以最远距离障碍物为参照物在其另一侧引入虚拟障碍点提供额外斥力解决机器人因振荡易陷入局部最小值。通过MATLAB对改进算法进行仿真表明,改进后的APF法能够较好的解决目标不可达及易陷入局部极小值问题,同时,改进后的APF算法较基本APF算法而言,在时间和路径平滑度方面均有了明显的提升并进行了实物论证,从仿真和实际两个角度验证本文算法的有效性。Aiming at the problem of unreachable target caused by the balance of resultant force when the robot uses the traditional artificial potential field method(APF)for path planning in complex terrain,it is proposed to improve the traditional repulsion field function and introduce the dynamic distance parameter between the robot and the obstacle to solve the problem of the unreachable target.Aiming at the problem that the L-shaped and other complex obstacles appear to oscillate and easily fall into the local minimum value,an adaptive tangent deflection angle method is proposed to introduce a virtual obstacle point on the other side of the farthest obstacle as a reference to provide additional repulsion force to solve the problem of robots easily falling into local minima due to oscillation.The simulation experiment of the improved algorithm in this paper through MATLAB shows that the improved APF method can better solve the problem of unreachable targets and easy to fall into a local minimum.The path smoothness has been significantly improved and the physical demonstration has been carried out to verify the effectiveness of the algorithm in this paper from the perspectives of simulation and practice.

关 键 词：路径规划 目标不可达 自适应切线偏转角 虚拟障碍点 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]