基于混合势场法的移动机器人路径规划

针对目前移动机器人在路径规划中出现的问题,提出一种自主移动机器人路径规划的新方法——混合势场法。分析了人工势场法的不足,找出局部极小值点的形成原因;针对人工势场法中障碍物附近目标不可达问题,采用了在斥力场函数中加入斥力因子,使得机器人顺利到达目标点;针对陷入局部极小值和振荡的问题,提出了混合势场法,通过将势场法和可视图法结合起来,使得机器人走出局部极小值和振荡区域。最后,将混合势场法应用于室内移动机器人的路径规划中,仿真实验证明了该方法的有效性。

Path planning of mobile robot based on compound potential field method

Aiming at the problem existing in the path planning of mobile robot, this paper proposed a path planning based on compound potential field method CPFM for autonomous mobile robot. Firstly, this paper analyzed the shortages of artificial potential field in detail, which would lead to the local minimum point. Then it applied repulsive potential field function with additional repulsion factor to deal with the problem of the minimum, which caused by the obstacles in the vicinity of the target and made the target point unreachable. In addition, this paper developed a new compound potential field method, by combining the artificial potential field and visibility graph method, to help the robot escape from the local minimum point or the vibration area. Finally, verified the effectiveness and good performance of the CPFM by the experiments of path planning for indoor mobile robot.