模糊空间中基于人工势场的移动机器人运动规划

为了研究移动机器人的运动规划方案,提出使用指数形式的人工势场函数描述环境中的目标和障碍物。针对人工势场方案可能出现的局部极小问题提出了逃逸方法。随后提出一种模糊隶属度函数用来表示动态变化的障碍物模型,建立模糊表示的环境空间模型,并在这种模糊空间的基础上构建模糊人工势场函数,提出了一种适合于动态环境的实时优化路径规划算法,有利于解决未知、动态变化的不确定环境中的机器人路径规划问题。仿真结果表明,本文中提出的建模和规划方法是可行的。

Motion Planning of Mobile Robot Based on Artificial Potential Field in Fuzzy Space

In order to study the motion planning method of mobile robot in multi-obstacle environment,the exponential function is selected as the potential field function to model the objection and obstacles in the environment.Aiming at the local minimum possibly emerged in the motion procedure,an escape method has been proposed.Then,a fuzzy membership function is proposed to model the dynamic obstacles.After that,a fuzzy space and artificial potential field is built based on it.Finally,a real-time optimal motion planning algorithm adapted to dynamic environment is proposed,which makes for the motion planning problem in unknown,dynamic and uncertainty environment.Simulations show that the modeling and motion planning method are feasible.