| 基于改进人工势场的移动机器人路径规划 |
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| 引用本文： | 潘炼,严文,陶辉,严共灿.基于改进人工势场的移动机器人路径规划[J].计算机测量与控制,2011,19(4). |
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| 作者姓名： | 潘炼 严文 陶辉 严共灿 |
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| 作者单位： | 武汉科技大学信息科学与工程学院,湖北,武汉,430081 |
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| 基金项目： | 湖北省自然科学基金项目 |
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| 摘 要： | 介绍了传统人工势场法在静态环境中的应用,分析了此方法在动态环境中的不足,在此不足的基础上引入了速度势场的概念,改进了传统的人工势场函数,得出了新的引力函数和斥力函数;新的引力函数和斥力函数考虑了机器人、目标点、障碍物的速度特性,使机器人能更好适应动态环境;在新的势场函数作用下,机器人能快速调整自身速度大小和方向,使其快速脱离障碍物的威胁并快速、准确到达或追踪目标;仿真实验结果验证了新的人工势场函数的有效性.
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| 关 键 词： | 移动机器人 路径规划 改进人工势场 |
Path Planning Based on Evolutionary Artificial Potential Field |
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| Pan Lian,Yan Wen,Tao Hui,Yan Gongcan.Path Planning Based on Evolutionary Artificial Potential Field[J].Computer Measurement & Control,2011,19(4). |
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| Authors: | Pan Lian Yan Wen Tao Hui Yan Gongcan |
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| Affiliation: | Pan Lian,Yan Wen,Tao Hui,Yan Gongcan(College of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081,China) |
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| Abstract: | This paper introduces the application of APF(Artificial Potential Field) in the static environment and analyses its disadvantages in the dynamic environment,and based on this analysis,the traditional potential field is improved by proposing the concept of velocity potential field,the new attractive function and the new repulsive function are gained.The new attractive function and the new repulsive function consider velocity character of robot,goal,obstacle and make robot adapt to dynamic environment.In the ... |
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| Keywords: | mobile robot path planning evolutionary artificial potential field |
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