| 移动机器人路径规划的模糊人工势场法研究 |
| |
| 引用本文： | 刘翰培,王东署,汪宇轩,罗小川.移动机器人路径规划的模糊人工势场法研究[J].控制工程,2022,29(1):33-38. |
| |
| 作者姓名： | 刘翰培 王东署 汪宇轩 罗小川 |
| |
| 作者单位： | 东北大学计算机科学与工程学院 辽宁沈阳110169,郑州大学电气工程学院,河南郑州450001,东北大学材料科学与工程学院 辽宁沈阳110169,东北大学信息科学与工程学院,辽宁沈阳110169 |
| |
| 基金项目： | 国家重点研发计划项目(2019YFB1705002)。 |
| |
| 摘 要： | 静态环境下的路径规划是移动机器人领域非常重要的研究课题.人工势场法由于算法简单、计算量小、运算速度快、实时性好等特点,在移动机器人路径规划中得到了广泛应用,但人工势场法也存在目标不可达和局部极小值问题.针对人工势场法存在的不足,将模糊控制思想引入到移动机器人的路径规划中来,对移动机器人的偏转角进行精确控制.仿真实验结果...
|
| 关 键 词： | 移动机器人 路径规划 人工势场法 模糊控制 |
Research of Path Planning for Mobile Robots Based on Fuzzy Artificial Potential Field Method |
| |
| LIU Han-pei,WANG Dong-shu,WANG Yu-xuan,LUO Xiao-chuan.Research of Path Planning for Mobile Robots Based on Fuzzy Artificial Potential Field Method[J].Control Engineering of China,2022,29(1):33-38. |
| |
| Authors: | LIU Han-pei WANG Dong-shu WANG Yu-xuan LUO Xiao-chuan |
| |
| Affiliation: | (School of Computer Science and Engineering,Northeastern University,Shenyang 110169,China;School of Materials Science and Engineering,Northeastern University,Shenyang 110169,China;College of Information Science and Engineering,Northeastern University,Shenyang 110169,China;School of Electrical Engineering,Zhengzhou University,Zhengzhou 450001,China) |
| |
| Abstract: | Path planning in static environment is an important research topic in the field of mobile robots.Due to simple algorithm,low computation load,high calculation speed and good real-time implication,artificial potential field method has been widely used in the path planning of mobile robots.But it has some drawbacks,such as target non-reaching and local minimum.For these drawbacks,fuzzy control is introduced into the path planning of mobile robots to precisely control the turning angle.Simulation results demonstrate the effectiveness of the proposed method. |
| |
| Keywords: | Mobile robot path planning artificial potential field fuzzy control |
| 本文献已被 维普 万方数据 等数据库收录！ |
|
