摘要
针对人工势场法机器人路径规划具有目标不可达与存在局部极小值点等问题,提出了改进后的人工势场法模型,将未知环境中的障碍以网格地图的形式设计出来,使机器人通过感知来规避障碍朝目标移动。运用MATLAB GUI设定形成一个包含障碍与目标点的二维坐标系统环境,在其平面地图中使机器人从初始位置到期望位置进行最优轨迹移动仿真试验。试验显示,改进后的人工势场法能使移动机器人在未知环境中导航避开障碍并找出合适路径,以达到无碰撞要求。仿真结果接近预期效果,表明该方法能有效提高移动机器人在未知环境中路径规划的可行性及其避障的有效性。
In view of problems of goal unreachable and the existence of a local minimum point value in path planning for robot with artificial potential field,an improved artificial potential field algorithm model is proposed,the obstacles in the unknown environment were designed in the form of grid map,so that the robot could move towards the target by sensing and avoiding obstacles. MATLAB GUI was used to form a two-dimensional coordinate system environment contained obstacles and the target point,in which the robot was made to move from the initial position to the desired position in the plane map for the optimal trajectory movement simulation test. The test showed that the improved artificial potential field method can make the mobile robot navigate under unknown environment to avoid obstacles and find the right path to meet collision free requirements. The simulation results were close to the expected results,which showed that the method can effectively improve the feasibility of path planning and effectiveness obstacle avoidance for mobile robots in unknown environment.
出处
《科学技术与工程》
北大核心
2016年第33期221-226,共6页
Science Technology and Engineering
基金
过程装备与控制工程四川省重点实验室项目(GK2015-02)资助
关键词
机器人
路径规划
人工势场
避障
MATLAB
robot
path planning
artificial potential field
obstacle avoidance
MATLAB
