改进人工势场法的AGV路径规划算法研究

针对传统人工势场法路径规划中存在的局部极小值和目标不可达问题，提出了一种面向AGV路径规划的改进人工势场法。该算法将道路边界障碍化，对障碍物密集区域的障碍物进行连锁处理，在斥力函数中引入目标点与AGV间的距离因数，在局部极小值点附近合适位置增加虚拟障碍物。仿真结果表明：改进算法可以有效解决局部极小值问题和目标不可达问题，同时使AGV避开障碍物陷阱成功到达目标点。

Research on Improved Artificial Potential Field Method for AGV Path Planning

Aiming at the local minimum and target unreachable problems in traditional artificial potential field method path planning,an improved artificial potential field method for automated guided vehicle(AGV) path planning was proposed.In the algorithm,the road boundary was obstructed and the obstacles in the obstacle-intensive area were interlocked,the distance factor between the target point and AGV was introduced into the repulsion function,and virtual obstacles were added at suitable locations near the local minimum point.Simulation results show that by using the improved algorithm,the local minimum problem and the target unreachable problem can be effectively solved,and at the same timethe AGV can avoid obstacles trapsand successfully reach the target point.