| 改进人工势场法在未知环境中的路径规划研究 |
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| 引用本文： | 陈冠星,张志安,黄学功,华洪,施振稳.改进人工势场法在未知环境中的路径规划研究[J].机械与电子,2021,39(5):74-80. |
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| 作者姓名： | 陈冠星 张志安 黄学功 华洪 施振稳 |
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| 作者单位： | 南京理工大学机械工程学院,江苏 南京 ２１００９４ |
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| 摘 要： | 针对机器人路径规划中路径震荡的问题,提出添加角度过滤器的方法减轻路径震荡的程度,利用在计算引力时采用不同增益系数的方法进一步减轻了路径震荡.而对于局部极小点问题,提出采用添加虚拟目标点的方法引导机器人走出陷阱区域.最后,在 MATLAB 环境下进行仿真,仿真结果表明改进算法的有效性.
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| 关 键 词： | 人工势场法 未知环境 角度过滤器 路径震荡 虚拟目标点 局部极小点 |
Research on Path Planning of Improved Artificial Potential Field Method in Unknown Environment |
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| CHEN Guanxing,ZHANG Zhi'an,HUANG Xuegong,HUA Hong,SHI Zhenwen.Research on Path Planning of Improved Artificial Potential Field Method in Unknown Environment[J].Machinery & Electronics,2021,39(5):74-80. |
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| Authors: | CHEN Guanxing ZHANG Zhi'an HUANG Xuegong HUA Hong SHI Zhenwen |
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| Affiliation: | ( School of Mechanical Engineering , Nanjing University of Science and Technology , Nanjing ２１００９４ , China ) |
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| Abstract: | Aiming at the problem of path oscillation in robot path planning , the method of adding angle filter is proposed to reduce the degree of path oscillation , and the method of using different gain coefficients to calculate gravity is used to further reduce path oscillation．Aiming at the problem of local minimum point , the method of adding virtual target point is proposed to guide the robot out of the trap area．Finally , the simulation results show the effectiveness of the improved algorithm in the MATLAB environment． |
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| Keywords: | artificial potential field method unknown environment angle filter path oscillation virtual target point local minimum point |
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