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改进人工势场法在机器人路径规划中的应用
引用本文:罗乾又,张华,王姮,解兴哲.改进人工势场法在机器人路径规划中的应用[J].计算机工程与设计,2011,32(4):1411-1413,1418.
作者姓名:罗乾又  张华  王姮  解兴哲
作者单位:西南科技大学,机器人技术及应用四川省重点实验室,四川,绵阳,621010
摘    要:为解决传统人工势场法用于机器人路径规划时会出现规划失败的问题,分析了由于局部极小点问题而导致规划失败的原因。在已改进人工势场函数的基础上,提出了通过增加虚拟目标点和原目标点共同对机器人产生引力的方法来解决传统人工势场法中出现的局部极小点问题。在Mobotsim中对算法的仿真结果表明了该方法的可行性和有效性。

关 键 词:移动机器人  路径规划  人工势场法  虚拟目标  局部极小点

Application of improved artificial potential field approach in local path planning for mobile robot
LUO Qian-you,ZHANG Hua,WANG Heng,XIE Xing-zhe.Application of improved artificial potential field approach in local path planning for mobile robot[J].Computer Engineering and Design,2011,32(4):1411-1413,1418.
Authors:LUO Qian-you  ZHANG Hua  WANG Heng  XIE Xing-zhe
Affiliation:LUO Qian-you,ZHANG Hua,WANG Heng,XIE Xing-zhe(Sichuan Province Key Laboratory of Robot Technology and Application,Southwest University of Science and Technology,Mianyang 621010,China)
Abstract:To solve the local path planning failure problem of mobile robot using traditional artificial potential field(APF) method,this paper analysises the reasons that lead to the failure in planning due to the local minimum problem.Based on the improved potential field function,this paper proposes a new method to solve this problem.The local minimum problem of the APF can be solved through adding a virtual goal for mobile robot to escaping local minimum.The simulation result in Mobotsim proves the effectiveness a...
Keywords:mobile robot  local path planning  artificial potential field  virtual goal  local minimum  
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