计算机工程与科学2017，Vol.39Issue(7)：1328-1332,5.DOI:10.3969/j.issn.1007-130X.2017.07.019
基于改进人工势场法的移动机器人路径规划
Path planning of mobile robots based on improved artificial potential field method
宋建辉 1代涛 1刘砚菊1
作者信息
- 1. 沈阳理工大学自动化与电气工程学院,辽宁沈阳110159
- 折叠
摘要
Abstract
Path planning of mobile robots based on the traditional artificial potential field method has the problems of non-reachable targets with nearby obstacles and local minimum points.We analyze the cause of this problem,and propose a path planning algorithm for mobile robots based on the improved artificial potential field.In this algorithm,the relative distance between the robot and the target is introduced into the repulsion function,and the robot can walk out of local minimum points and reach the target point by establishing a virtual target point and isolating the original target point.Simulations verify the effectiveness of the improved algorithm.关键词
人工势场法/路径规划/局部极小值/移动机器人Key words
artificial potential field/path planning/local minimum point/mobile robot分类
信息技术与安全科学引用本文复制引用
宋建辉,代涛,刘砚菊..基于改进人工势场法的移动机器人路径规划[J].计算机工程与科学,2017,39(7):1328-1332,5.
