摘要
提出一种采用圆形活动窗口、考虑机器人尺寸的斥力函数和自适应目标吸引力函数、强化方向控制函数的新的改进型势能场方法,以配置超声波测距传感器的山彦移动机器人实现了回避障碍导航实验。结果表明,所提出的方法具有更强的障碍回避局部导航能力,并且算法简单。
A modified potential field method for mobile robot local obstacle avoidance and navigation is present-
ed. It adopts a circular active window,an adaptive goal attractive potential field function,and an enhanced steering
direction signal. The proposed approach has been implemented and tested on a mobile robot Yamabico equipped
with ultrasonic sensors. Results show that the robot is able to successfully perform local navigation with great
obstacle avoidance capabilities and simple algorithm.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2003年第z2期91-93,共3页
Chinese Journal of Scientific Instrument
基金
浙江省自然科学基金(601078)
关键词
超声波传感器
移动机器人导航
障碍回避
势能场方法
Ultrasonic sensor
Mobile robot navigation
Obstacle avoidance
Potential field method
