| 基于人工势场法的移动机器人路径规划研究 |
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| 引用本文： | 杨柳,张洪,高忠国.基于人工势场法的移动机器人路径规划研究[J].机床与液压,2011,39(9). |
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| 作者姓名： | 杨柳 张洪 高忠国 |
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| 作者单位： | 江南大学机械工程学院,江苏无锡,214122 |
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| 摘 要： | 基于人工势场法的移动机器人路径规划具有目标不可达、在障碍物前振荡、存在局部极小值等问题。通过分析振荡现象产生的原因以及局部极小值点存在的原因,提出一种基于人工势场模型、采用量子粒子群算法来选择人工势场模型参数的算法,从而克服人工势场法的模型缺陷,实现路径的优化。仿真结果表明,该方法能有效地提高路径规划的性能。
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| 关 键 词： | 移动机器人 路径规划 人工势场法 量子粒子群算法 |
Path Planning Research for Mobile Robot Based on Artificial Potential Field |
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| YANG Liu,ZHANG Hong,GAO Zhongguo.Path Planning Research for Mobile Robot Based on Artificial Potential Field[J].Machine Tool & Hydraulics,2011,39(9). |
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| Authors: | YANG Liu ZHANG Hong GAO Zhongguo |
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| Affiliation: | YANG Liu,ZHANG Hong,GAO Zhongguo(School of Mechanical Engineering,Jiangnan University,Wuxi Jiangsu 214122,China) |
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| Abstract: | To the problems of the goal unreachable in path planning of mobile robot with artificial potential field,oscillation in front of a barrier and existence of a local minimum point value,and through analyzing the causes of oscillation and existence of a local minimum point value,a method based on model of artificial potential field and selection of parameters of potential field model by QPSO were proposed.The defects of potential field model were solved and the path was optimized.Simulation result shows the pr... |
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| Keywords: | Mobile robot Path planning Artificial potential field QPSO |
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