摘要
人工势场 (Artificial Potential Field,APF )法是一种简单有效的路径规划算法。本文继承了人工势场法的基本思想 ,首先针对障碍物附近目标不可达问题 (GNRON)修正了斥力势函数 ,并利用模拟退火算法解决了人工势场法的局部极小点问题 ,将这种改进的人工势场法应用于足球机器人领域 。
We present an improved artificial potential f ie ld (APF) approach for solving the local minimum problem and goal nonreachable wi th obstacle nearby (GNRON) problem. This paper modifies the repulsive potential function in order to solve the GNRON problem. Simulated annealing algorithm is i ntegrated into APF to solve the local minimum. The improved APF is applied to pa th planning of soccer robot. The simulated experiments show the validity of this approach.
出处
《机械科学与技术》
CSCD
北大核心
2003年第4期547-548,555,共3页
Mechanical Science and Technology for Aerospace Engineering
