| 基于改进人工势场模型的移动机器人路径规划 |
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| 引用本文： | 朱俊,王宇俊,常光华,续芳.基于改进人工势场模型的移动机器人路径规划[J].数字社区&智能家居,2010(11). |
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| 作者姓名： | 朱俊 王宇俊 常光华 续芳 |
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| 作者单位： | 西南大学计算机与信息科学学院;北京信息科技大学; |
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| 基金项目： | 重庆市科委自然科学基金计划资助项目(CSTC,2007BB0341) |
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| 摘 要： | 针对传统人工势场模型在移动机器人路径规划中存在局部极值的问题,提出了一种改进方法。该方法首先将传统势场模型转换成解空间中寻优的问题,再加入罚因子建立罚函数数学模型。新的势场模型能够有效的使得机器人成功逃逸局部极值点。最后通过MATLAB进行仿真实验,仿真实验结果证明该方法的有效性。
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| 关 键 词： | 移动机器人 人工势场 路径规划 罚函数 函数优化 |
Research of Path Planning for Mobile Robot Based on Evolutionary Artificial Potential Field |
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| ZHU Jun,WANG Yu-jun,CHANG Guang-hua,XU Fang.Research of Path Planning for Mobile Robot Based on Evolutionary Artificial Potential Field[J].Digital Community & Smart Home,2010(11). |
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| Authors: | ZHU Jun WANG Yu-jun CHANG Guang-hua XU Fang |
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| Affiliation: | 1.College of Computer and Information Science;SouthWest University;Chongqing 400715;China;2.Department of Computer Science and Technology;Beijing Information Science and Technology University;Beijing;100101;China |
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| Abstract: | This paper propose an improved method for local extremum problems exist in path planning of mobile robot used traditional APF model.The method uses penalty function model to solve the problem of local constraints.Firstly,converting potential field models into optimization problems of the solution space.Secondly,adding penalty factor to establish a mathematical model.The new model can effectively makes the robot to escape local maximum point.At last,using MATLAB tool to simulate this method.The final simulat... |
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| Keywords: | mobile robot artificial potential field path planning penalty function function optimize |
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