| 基于改进人工势场法的机器人动态追踪与避障 |
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| 引用本文： | 陈立彬,尤波.基于改进人工势场法的机器人动态追踪与避障[J].自动化技术与应用,2007,26(4):8-10. |
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| 作者姓名： | 陈立彬 尤波 |
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| 作者单位： | 哈尔滨理工大学,自动化学院,黑龙江,哈尔滨,150080 |
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| 摘 要： | 针对移动机器人对动态目标的追踪和对拦截型障碍物的避障问题,将势场法进行改进,提出了辅助斥力环方法,改变了传统势场法中斥力的作用方式和机器人的避障策略,使其在动态环境下处理避障问题更加灵活有效.仿真研究验证了此方法的有效性.
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| 关 键 词： | 动态追踪 势场法 路径规划 改进 人工势场 移动机器人 动态追踪 避障策略 Robot Artificial Potential Field Evolutionary Based Tracking 有效性 验证 仿真研究 处理 动态环境 作用方式 方法 斥力 问题 障碍 |
| 文章编号： | 1003-7241（2007）04-0008-03 |
| 收稿时间： | 2006-09-12 |
| 修稿时间： | 2006-09-12 |
Robot's Dynamic Tracking and Obstacle-Avoiding Based on Evolutionary Artificial Potential Field |
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| CHEN Li-bin,YOU Bo.Robot''''s Dynamic Tracking and Obstacle-Avoiding Based on Evolutionary Artificial Potential Field[J].Techniques of Automation and Applications,2007,26(4):8-10. |
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| Authors: | CHEN Li-bin YOU Bo |
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| Affiliation: | College of Automation, Harbin Univ.Sci. Tech, Harbin 150080, China |
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| Abstract: | A repulsive force ring method is presented to improve the artificial potential field algorithm to solve the problem of dynamic tracking and obstacle avoiding for mobile robots.The method is flexible and effective for mobile robots to avoid collision in dynamic environment, and is verified by simulation. |
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| Keywords: | dynamic tracking artificial potential field path planning |
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