摘要
Abstract
Local path planning is one of the key issues of mowing robot.Aiming at this problem,the method used more is artificial potential field,but there is often a local minimum problem in the traditional artificial potential field.Therefore,this article introduced a strategy which could guide the robot around obstacles from the local minimum to reach the target successfully.The strategy which combines a filled potential field and simulated annealing algorithm is to solve the minimum of the potential field strength as next target and connect them to constitute the optimal path.The results of the simulation indicated that this method not only overcomes the artificial potential field of the local minimum effectively,but also optimizes the path and reduces the complexity of the path.关键词
局部路径规划/割草机器人/人工势场法/模拟退火算法Key words
Local path planning/Mowing robot/Artificial potential field(APF)/Simulated annealing Algorithm(SAA)分类
信息技术与安全科学
