改进人工势场法的路径规划研究

针对人工势场法容易造成陷入局部极小点的问题,提出“沿边走”的详细策略进行路径的求解,以跳出局部极小点,并针对这一策略导致的路径过长和平滑度差的问题,采用分段的模拟退火算法进行优化。最后通过 MATLAB 验证分析,和传统的人工势场法以及采用虚拟目标点的人工势场法进行对比,仿真结果表明,在简单和复杂环境中路径长度和平滑度均能得到提升。

Research on Path Planning of Improved Artificial Potential Field

Aiming at the problem that the artificial potential field method tends to fall into a local minimum , a detailed strategy of“ wall following ”is proposed to solve the path to jump out of the local minimum.To deal with the excessively long path and poor smoothness caused by this strategy , the problem is optimized by the segmented simulated annealing algorithm.Finally , a simulation experiment is conducted on the MATLAB , and compared with the traditional artificial potential field method and the artificial potential field method using virtual target points , which proves that the path length and smoothness can be improved in both simple and complex environments.