摘要
介绍了传统人工势场法在静态环境中的应用,分析了此方法在动态环境中的不足,在此不足的基础上引入了速度势场的概念,改进了传统的人工势场函数,得出了新的引力函数和斥力函数;新的引力函数和斥力函数考虑了机器人、目标点、障碍物的速度特性,使机器人能更好适应动态环境;在新的势场函数作用下,机器人能快速调整自身速度大小和方向,使其快速脱离障碍物的威胁并快速、准确到达或追踪目标;仿真实验结果验证了新的人工势场函数的有效性。
This paper introduces the application of APF（Artificial Potential Field） in the static environment and analyses its disadvantages in the dynamic environment,and based on this analysis,the traditional potential field is improved by proposing the concept of velocity potential field,the new attractive function and the new repulsive function are gained.The new attractive function and the new repulsive function consider velocity character of robot,goal,obstacle and make robot adapt to dynamic environment.In the use of new potential field,robot can adjust its velocity to escape from obstacles and move or track target rapidly and accurately.The effectiveness of the new potential field is verified by simulations.
出处
《计算机测量与控制》
CSCD
北大核心
2011年第4期969-971,974,共4页
Computer Measurement &Control
基金
湖北省自然科学基金项目(2009CDB270)
关键词
移动机器人
路径规划
改进人工势场
mobile robot
path planning
evolutionary artificial potential field
