基于改进人工势场法的移动机器人路径规划

基于传统人工势场法的机器人路径规划存在障碍物附近目标不可达和局部极小点的问题。在研究该问题产生原因的基础上,提出了一种基于改进人工势场法的移动机器人路径规划算法。该算法在斥力函数中引入了机器人和目标点之间的距离,在极小点附近自主建立虚拟目标牵引点并隔离原有目标点,解决了传统人工势场法的局部极小点问题,使机器人到达了目标点。仿真结果说明了改进后算法的有效性。

Path planning of mobile robots based on improved artificial potential field method

Path planning of mobile robots based on the traditional artificial potential field method has the problems of non-reachable targets with nearby obstacles and local minimum points. We analyze the cause of this problem, and propose a path planning algorithm for mobile robots based on the improved artificial potential field. In this algorithm, the relative distance between the robot and the target is intro-duced into the repulsion function, and the robot can walk out of local minimum points and reach the tar-get point by establishing a virtual target point and isolating the original target point. Simulations verify the effectiveness of the improved algorithm.