移动机器人动态目标规划研究

在环境信息已知情况下,对移动机器人的动态目标规划问题进行深入研究。对传统人工势场法的不足进行改进,使得移动机器人较好地避障、跟踪动态目标。首先,对斥力势场函数做改进,解决因障碍物在目标点附近而陷入局部极小的问题。其次,对引力势场函数做改进,使移动机器人有效跟踪动态目标问题。最后,通过对移动机器人围捕行为进行仿真,验证了该算法的有效性.

Study on Moving Object Tracking of Mobile Robot

This paper studies in depth the dynamic goal planning of the mobile robot based on known environmental information.The deficiency of traditional artificial potential field method is improved,by making better obstacle avoidance and tracking dynamic targets.First,the improved artificial potential field adopted the improved attractive force function that solved the local minima problems caused by the obstacles near the target.Second,to adopt the improved repulsive force function made the mobile robot effective...