| 动态环境下基于改进人工势场的机器人实时路径规划仿真研究 |
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| 引用本文： | 况菲,王耀南,张辉.动态环境下基于改进人工势场的机器人实时路径规划仿真研究[J].计算机应用,2005,25(10):2415-2417. |
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| 作者姓名： | 况菲 王耀南 张辉 |
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| 作者单位： | 湖南大学,智能自动化重点实验室,湖南,长沙,410082;湖南大学,智能自动化重点实验室,湖南,长沙,410082;湖南大学,智能自动化重点实验室,湖南,长沙,410082 |
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| 基金项目： | 国家自然科学基金资助项目（60375001）;教育部博士点基金资助项目（20030532004） |
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| 摘 要： | 提出了一种基于改进人工势场法进行动态环境的路径规划的方法。通过梯度逼近进行运动目标的搜索，解决了在实时路径规划中因环境的运动信息难以准确获取而造成的路径规划无法完成的问题。仿真结果验证了方法的有效性，能够较好的解决动态环境下特别是存在随机运动物体情况下移动机器人的路径规划问题。
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| 关 键 词： | 人工势场模型 移动机器人 动态环境 路径规划 |
| 文章编号： | 1001-9081（2005）10-2415-03 |
| 收稿时间： | 2005-03-31 |
| 修稿时间： | 2005-03-31 |
Real time path planning of mobile robot in dynamic world based on improved artificial potential field |
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| KUANG Fei,WANG Yao-nan,ZHANG Hui.Real time path planning of mobile robot in dynamic world based on improved artificial potential field[J].journal of Computer Applications,2005,25(10):2415-2417. |
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| Authors: | KUANG Fei WANG Yao-nan ZHANG Hui |
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| Affiliation: | Key Laboratory of Intelligent Automation Technology, Hunan University, Changsha Hunan 410082, China |
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| Abstract: | A path-planning method in dynamic surroundings which was based on improved artificial potential field was proposed in this paper. Because the exact movement information was hard to acquire, it is difficult to finish path planning of mobile robots in dynamic world, Searching the moving goal by gradient approximation method, the unreachable problem be solved, The results of simulation have verified that the method can solve the problem effectively, even though there are stochastic moving obstacles in the surroundings. |
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| Keywords: | Artificial Potential Field(APF) mobile robot dynamic world path planning |
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