机器人在未知环境条件下的动态避障

为了使机器人在工作过程中顺利的躲避行进途中的各类障碍物,采用人工势场法作为机器人的避障算法并针对传统人工势场法存在的目标不可达的问题进行了详细的分析.在传统人工势场法斥力函数中引入机器人与目标点的距离关系作为其中的因子,分别重新定义了势能函数中的斥力和引力,从而得到了新的势能函数,成功地解决了目标不可达的问题.基于Matlab平台的仿真结果表明,本方法控制的机器人能够较出色地躲避大小不一的障碍,最终到达指定位置.

Dynamic obstacle avoidance of robot in unknown environment

In order to make the robot smoothly evade various obstacles in its advancing way during the working process, the artificial potential field method was used as the obstacle evading algorithm of robot, and the unreachable problem of targets in traditional artificial potential field method was analyzed in detail. The distance relationship between the robot and target point was introduced in the repulsive force function of traditional artificial potential field and taken as one factor. In addition, the repulsion force and attraction force in the potential function were redefined to obtain new potential energy function, and the unreachable problem of targets was successfully solved. The simulated results based on Matlab platform show that the robot controlled with the proposed method can nicely evade various obstacles with different sizes, and finally arrive at the designated spot.