摘要
分析了机器人路径规划方法中的人工势场法的不足,提出了改进势场法.该方法改进了斥力函数,增加了安全距离并将障碍物的影响距离根据障碍物的密集程度设置成一个动态值,并解决了抖动问题.针对局部极小问题采用虚拟障碍的概念,虚拟障碍是靠近局部极小点,用于把机器人从局部极小点区域驱逐出去,从而脱离局部极小并成功绕过障碍物到达目标点.改进势场法成功地应用于未知复杂环境下移动机器人的路径规划中,仿真实验证明了该方法的正确性和有效性.
Aiming at the limitation of the traditional artificial potential field method,a modified potential field method is proposed.A new repulsive force function is improved by increasing a safe distance and setting up a dynamic impact distance according to the intensity of the obstacles.Using the virtual obstacle concept,local minimums occurred in robot path planning can be efficiently avoided.The virtual obstacle is located around local minimums to repel a mobile robot from local minima.The proposed method is applied to mobile robot path planning in an unknown complex environment.The simulation results show that the proposed method is valid and effective in the path planning.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2009年第S1期116-120,共5页
Journal of Southeast University：Natural Science Edition
基金
国家自然科学基金资助项目(60775058)
教育部科学技术研究重点资助项目(107028)
华北电力大学青年教师科研基金资助项目(200721006)
关键词
移动机器人
路径规划
改进势场法
mobile robot
path planning
modified potential field
