| 一种人工势场路径规划改进算法的研究 |
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| 引用本文： | 吴乔乔,曾虹,张翔. 一种人工势场路径规划改进算法的研究[J]. 杭州电子科技大学学报, 2008, 28(3): 43-46 |
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| 作者姓名： | 吴乔乔 曾虹 张翔 |
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| 作者单位： | 杭州电子科技大学计算机应用技术研究所,浙江,杭州,310018 |
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| 摘 要： | 针对人工势场法中局部最小问题产生的根源，提出一种在局部最小区域设置虚拟目标物的解决方法。不同的障碍物采用不同的策略设置虚拟目标物，打破局部最小区域的受力平衡，使得障碍物在虚拟目标物的引力作用下顺利走出局部最小点，到达目标。仿真试验验证了该方法的有效性。
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| 关 键 词： | 路径规划 人工势场 局部最小点 虚拟目标物 |
An Improvement of a Path Planning Algorithm Based on Artificial Potential Field |
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| WU Qiao-qiao,ZENG Hong,ZHANG Xiang. An Improvement of a Path Planning Algorithm Based on Artificial Potential Field[J]. Journal of Hangzhou Dianzi University, 2008, 28(3): 43-46 |
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| Authors: | WU Qiao-qiao ZENG Hong ZHANG Xiang |
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| Affiliation: | (Institute of Computer Application and Technology, Hangzhou Dianzi University, Hangzhou Zhejiang 310018, Chiha) |
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| Abstract: | To avoid the disadvantage of artificial potential field, for existing the local stability point on the path planning, adopts the solution of setting virtual object point, difference strategies are adopted for difference obstacles, breaks the balance of the force, and makes the mobile robot go out of the local stability point, arrives at the object point, the effectiveness of this method is verified by simulation results. |
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| Keywords: | path planning artificial potential field local minima goal unreachable |
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