| 基于势场法的移动机器人避障路径规划 |
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| 引用本文： | 吴镜开,黄远灿,王世兴.基于势场法的移动机器人避障路径规划[J].微计算机信息,2007,23(5):228-230. |
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| 作者姓名： | 吴镜开 黄远灿 王世兴 |
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| 作者单位： | 1. 100081,北京理工大学信息科学技术学院
2. 100083,北京中国农业大学信息与电气工程学院 |
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| 摘 要： | 针对势场法所固有的几个缺陷,提出了一种基于势场法的移动机器人避障路径规划算法,并成功应用于未知复杂环境下移动机器人的路径规划中。仿真试验表明:提出的方法具有较强的路径规划能力,克服了传统势场法的缺点,具有较强的实用性。
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| 关 键 词： | 移动机器人 势场法 避障 路径规划 |
| 文章编号： | 1008-0570（2007）02-2-0228-03 |
| 修稿时间： | 2006-12-17 |
Anti-collision Path Planning for Mobile Robot Based on Potential Field Method |
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| WU JINGKAI,UANG YUANCAN,WANG SHIXING.Anti-collision Path Planning for Mobile Robot Based on Potential Field Method[J].Control & Automation,2007,23(5):228-230. |
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| Authors: | WU JINGKAI UANG YUANCAN WANG SHIXING |
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| Affiliation: | 1.Beijing Institute of Technology,School of Information Science and Technoiogy,Beijing 100081,China;2.China Agricultural University ,College of Information and Electrical Engineering,Beijing 100083,China |
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| Abstract: | For the innate limitations of the principle of potential field,this paper proposes an new algorithm for mobile robot anti- colli- sion path planning,which is based on potential field method.And successfully used it for mobile robot path planning in the uknown complex environment. Simulation results demonstrate that the proposed method performs path planning very well, overcomes the draw- backs of the conventional potential field methods, and has good practicality. |
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| Keywords: | Mobile robot Potential field method Anti- collision Path planning |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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