| 基于人工势场法的移动机器人路径规划研究 |
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| 引用本文： | 黄炳强,曹广益.基于人工势场法的移动机器人路径规划研究[J].计算机工程与应用,2006,42(27):26-28. |
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| 作者姓名： | 黄炳强 曹广益 |
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| 作者单位： | 上海交通大学自动化系,上海,200030 |
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| 摘 要： | 人工势场法是机器人局部路径规划常用的一种方法,具有反应速度快、计算量小和实时性等优点。但这种方法容易产生局部极点,导致机器人停止移动,达不到目标。文章利用传统的人工势场法对移动机器人避障行为进行了仿真实验并成功地规划出一条光滑路径,并对人工势场法研究现状进行了分析讨论。
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| 关 键 词： | 人工势场 避障 路径规划 |
| 文章编号： | 1002-8331-（2006）27-0026-03 |
| 收稿时间： | 2005-12-01 |
| 修稿时间： | 2005-12-01 |
The Path Planning Research for Mobile Robot Based on the Artificial Potential Field |
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| HUANG Bing-qiang,CAO Guang-yi.The Path Planning Research for Mobile Robot Based on the Artificial Potential Field[J].Computer Engineering and Applications,2006,42(27):26-28. |
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| Authors: | HUANG Bing-qiang CAO Guang-yi |
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| Affiliation: | Department of Automation,Shanghai Jiaotong University,Shanghai 200030 |
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| Abstract: | The Artificial potential field is a common local path planning method for the mobile robot.It has the advantages of rapid respondence,small computation and real-time property.The robot may stop moving and can't reach the goal for the problem of local minima.This paper presents a computer simulation for the problem of obstacle avoidance using the artificial potential field method.The result shows that the mobile robot can plan a smooth path successfully.At last,the research status and improved potential fields are discussed. |
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| Keywords: | artificial potential field obstacle avoidance path planning |
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