改进人工势场法的移动机器人路径规划

针对传统人工势场法应用于移动机器人路径规划存在的缺陷,建立了改进的人工势场模型:使用势场强度代替力矢量进行路径规划;在障碍物的斥力势场中添加系数项,解决障碍物与目标点过近导致的目标不可达问题;考虑移动障碍物速度与机器人速度的影响,将速度信息引入到势场函数中;引入"填平势场"引导机器人走出局部极小点.在改进人工势场模型基...

Mobile robot path planning based on improved artificial potential field method

To overcome the shortcomings of the traditional artificial potential field method in mobile robot path planning,an improved method was proposed,in which potential field intensity was used instead of force vector to plan the path for the mobile robot. By addition of coefficient item to repulsion potential field of obstacles, the destination unreachable problem caused by the closely distance between destination and obstacles was solved. Considering the speed-effect of mobile obstacles and mobile robot,the velocity information was introduced into potential field function and an"added potential field"was also introduced to guide the robot to be out of local minimum points. Based on the new method,all the potential field intensity was added by algebraic sum style,then the genetic trust region algorithm was used to search the minimum sum point of potential field intensity within the movement scope which the robot can arrive at during a sampling period,and the global optimization path was composed of all the minimum points. Experiment results show that better path planning for mobile robot in dynamic environment can be achieved by this new method.