基于改进APF的机器人路径规划  

Robot Path Planning Based on Improved APF

作　　者：时旭光 王挺[1,2] 邵士亮[1,2] SHI Xuguang;WANG Ting;SHAO Shiliang(State Key Laboratory of Robotics,Shengyang Institute of Automation Chinese Academy of Sciences,Shenyang 110016,China;Robotics and Intelligent Manufacturing Innovation Research Institute,Chinese Academy of Sciences,Shenyang 110169,China;不详)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110169 [3]中国科学院大学,北京100049

出　　处：《组合机床与自动化加工技术》2025年第2期12-16,21,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金联合基金项目(U20A20201);国家自然科学基金资助项目(91948303)。

摘　　要：为了解决传统人工势场算法中存在的局部最小值、目标不可达以及路径震荡的问题,分别对这几个问题产生的原因进行了分析,并提出了对应的解决方案。首先,新增障碍物相对速度势场斥力,解决局部最小值问题;其次,引入静态斥力势场的作用范围因子,动态调整目标点附近斥力势场的作用范围,解决目标点不可达的问题;最后,引入多级斥力作用范围策略以及牛顿运动力学,成功解决了机器人在狭窄空间中路径震荡的问题。仿真以及实验结果表明,该算法在能够在复杂环境中规划出有效的平滑路径。To solve inherent issues in traditional artificial potential field(APF) algorithms,such as local minima,unreachable goals,and path oscillations,a detailed analysis was conducted on the causes of each problem,followed by proposed solutions.Firstly,a repulsive force based on the relative velocity of obstacles was introduced to alleviate issues related to local minima.Secondly,a range factor for the influence of static repulsive potential fields was incorporated,dynamically adjusting the field′s scope near the goal to address problems with unreachable goals.Lastly,a multi-level repulsive influence strategy and the application of Newtonian kinematics were introduced to successfully mitigate the problem of path oscillations in narrow spaces.Simulation and experimental results indicate that the improved APF algorithm is capable of planning effective and smooth paths in complex environments.

关 键 词：人工势场 路径规划 相对速度斥力势场 多级斥力作用范围 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]