计算技术与自动化2017，Vol.36Issue(1)：52-56,5.DOI:10.3969/j.issn.1003-6199.2017.01.011
基于改进人工势场法的移动机器人导航控制
Navigation Control of Mobile Robot Based on Improved Artificial Potential Field Method
李国进 1陈武 1易丐1
作者信息
- 1. 广西大学 电气工程学院,广西 南宁 530004
- 折叠
摘要
Abstract
The traditional artificial potential field method has some problems in the navigation of mobile robot,such as local minimum and turbulence around the obstacle.In view of these problems,this paper introduced the rotating force improved artificial potential field method,and the bacterial foraging hybrid particle swarm algorithm was used to off-line optimize controller parameters and gain coefficient of potential field function in navigation of mobile robot.The simulation of mobile robot navigation based on improved artificial potential field using optimization parameters show that the BF-PSO algorithm has better optimization effect on the navigation of mobile robot.关键词
导航/改进人工势场法/PID控制器/BF-PSOKey words
navigation/improved artificial potential method/PID controller/BF-PSO分类
信息技术与安全科学引用本文复制引用
李国进,陈武,易丐..基于改进人工势场法的移动机器人导航控制[J].计算技术与自动化,2017,36(1):52-56,5.
