摘要
针对传统人工势场法在避障及其动态目标追踪过程中产生的机器人陷入局部极小值点、无法到达目标、避障追踪路径产生震荡等问题,对传统人工势场法的引力公式和斥力分力方向进行了重新定义.在引力公式中加入速度差与加速度差因子,将斥力分力方向重新定义为与引力方向夹角不大于90°的方向,并且将该优化思想与现有的改进人工势场法进行了对比分析.结果表明,该算法可行且提高了机器人避障和动态目标追踪的灵活性以及对恶劣环境的适应能力.
In order to solve the problems that when the traditional artificial potential field method is used in the process of obstacle avoidance and dynamic target tracking,the robot falls into local minimum value piont,the target is unreacheable,and the obstacle avoidance tracking path appears shocking,the gravitation formula and the direction of repulsive component force were redefined. The velocity difference factor and acceleration difference factor were added into the gravitation formula, and the direction of repulsive component force was redefined as the direction with the angle not greater than 90°to the gravitation force. In addition,the optimization idea was compared and analyzed with the existing improved artificial potential field method. The results showthat the proposed algorithm is feasible,and can improve the flexibility of obstacle avoidance and dynamic target tracking as well as the poor environment adaptability of robot.
作者
崔宝侠
宋佳瑞
CUI Bao-xia;SONG Jia-rui(School of Information Science and Engineering, Shenyang University of Technology, Shenyang 110870, China)
出处
《沈阳工业大学学报》
EI
CAS
北大核心
2018年第3期292-298,共7页
Journal of Shenyang University of Technology
基金
国家自然科学基金资助项目(60905054)
辽宁省自然科学基金资助项目(2015020010)
辽宁省高等学校优秀科研人才支持计划项目(LR2015045)
关键词
改进人工势场法
动态目标追踪
避障
局部极小值
斥力方向
引力公式
机器人
加速度差因子
improved artificial potential field method
dynamic target tracking
obstacle avoidance
local minimum value
repulsive force direction
gravitation formula
robot
acceleration difference factor
