广东工业大学学报2016，Vol.33Issue(4)：30-36,43,8.DOI:10.3969/j.issn.1007-7162.2016.04.006
基于改进势场栅格法的清洁机器人路径规划算法研究
Research on Path Planning Algorithm for Cleaning Robot Based on Improved Potential Field Grid Method
摘要
Abstract
An improved potential field grid method is presented in this paper to solve the problems of gen-eral artificial potential field method including the trap situation, no path existing among adjacent obstacles and not up to the object near the obstacle. With the full coverage path planning algorithm of cattle farm-ing, a global optimal sweep path of the robot in the known environment model is given. By combining the laser radar and the potential field force, it has the ability to avoid dynamic collision. The verifying experi-ment indicates that the algorithm has practical value. It can make cleaning robot in a shorter path travers-al environment and enhance the obstacle avoidance capability, improve safety and efficiency of cleaning robot.关键词
人工势场法/清洁机器人/全覆盖/避障Key words
artificial potential field method/cleaning robot/full-coverage/obstacle avoidance分类
信息技术与安全科学引用本文复制引用
梁嘉俊,曾碧,何元烈..基于改进势场栅格法的清洁机器人路径规划算法研究[J].广东工业大学学报,2016,33(4):30-36,43,8.基金项目
广东省产学研合作专项资金资助项目(2014B090904080) （2014B090904080）
