摘要
由于传统人工势场法存在目标不可达和局部极小值点问题,在有多个障碍物的环境下非常容易导致无法路径规划。对人工势场法的特点进行了分析,提出了采用激光传感器测距模型和Wi-Fi定位算法构建路径规划的环境;对于障碍物与目标点过于接近而引起的斥力势场和引力势场同时增大继而出现的目标不可达问题,采用在斥力势场函数中增加一个距离因子的方法来使机器人能准确找到目标点;当障碍物处在机器人与目标点之间时,机器人很容易陷入局部极小值点的情况,采用旋转斥力一定角度的方法使机器人逃离极小值点,绕开障碍物而迅速向目标点移动。仿真实验证明了该方法能够成功规划出一条平滑无碰撞的路径。
Due to the inaccessibility of the traditional artificial potential field method and the problem of local minimum points, it is very easy to have the failure of path planning in the obstacles environment. After analyzing the characteristics of the artificial potential field method, it is put forward to construct the environment of path planning based on the laser sensor range model and Wi-Fi localization algorithm. The increases of repulsion potential field and gravity potential field at the same time, which are caused by the closer distance between obstacles and target points, led to the target inaccessibility problem. So, the repulsion potential field function is adopted by adding a distance factor to enable the robot accurately find the target point. When there are some obstacles between the robot and target, the robot is easy to fall into the local minimum point. Rotating repulsion for several angles is adopted to make robot fled out the minimum point. Then the robot can avoid obstacles and quickly move to the target point. Simulation results show that the method can successfully planning out a smooth path without collisions.
出处
《机械设计与研究》
CSCD
北大核心
2017年第4期36-40,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(61305016)
江苏省2015年度普通高校研究生科研创新计划资助项目(KYLX15_1185)
