基于人工势场法和模糊控制的矿用移动机器人路径规划  

Path Planning of Mining Mobile Robot Based on Artificial Potential Field Method and Fuzzy Control

作　　者：张德胜 Zhang Desheng(China Coal Research Institute,Beijing 100013,China;State Key Laboratory of Coal Mining and Clean Utilization,Beijing 100013,China;Beijing Mine Safety Engineering Technology Research Center,Beijing 100013,China)

机构地区：[1]煤炭科学技术研究院有限公司,北京100013 [2]煤炭资源高效开采与洁净利用国家重点实验室,北京100013 [3]北京市煤矿安全工程技术研究中心,北京100013

出　　处：《煤矿机械》2024年第6期199-202,共4页Coal Mine Machinery

基　　金：煤炭科学技术研究院有限公司科技发展基金项目(2022CX-II-07)。

摘　　要：针对传统人工势场(APF)方法在复杂环境下的局部极小值和轨迹振荡问题,提出一种改进APF方法。当矿用移动机器人落入局部极小位置时,通过分析机器人与障碍物之间的角度来设置虚拟目标,引导机器人走出死区。设计一种能输出环境危险因素来调整机器人步长的模糊控制器来改善轨迹振荡,增强机器人在复杂环境下的轨迹平滑度。仿真结果表明,该方法在线形障碍物、U形障碍物和大量离散障碍物的环境中能取得较好的避障效果,有效改善了复杂环境下的轨迹振荡。Aiming at the problems of local minimization and trajectory oscillation of traditional artificial potential field(APF)method in complex environment,an improved APF method was proposed.When the mining mobile robot falls into the local minimum position,set the virtual target by analyzing the angle between the robot and obstacle to guide the robot escape from the dead zone.A fuzzy controller was designed to improve the trajectory oscillation which outputs the environment danger factor to adjust the step size of robot and enhance the trajectory smoothness of robot in complex environment.Simulation results show that the method can achieve good obstacle avoidance effect in the environment with liner or U-shaped obstacle and a large number of discrete obstacles,and effectively improve the trajectory oscillation in complex environment.

关 键 词：APF 局部极小值 虚拟目标 模糊控制 

分 类 号：TD67[矿业工程—矿山机电]