机械科学与技术2017，Vol.36Issue(10)：1521-1529,9.DOI:10.13433/j.cnki.1003-8728.2017.1007
一种改进的势场法路径规划算法
An Improved Potential Field Method for Robot Path Planning
摘要
Abstract
For mobile robot path planning based on traditional artificial potential field,the avoidance to movable obstacle is inefficient and there are local minima in the generated path.To solve this problem,an improved potential field model based on potential flow theory is proposed.In the improved model,the corresponding relatiomhip between potential flow theory and path planning is introduced.Conflicts,for instance that velocity is infinite in the position of sink,are resolved by modified function.To satisfy the reliability of avoiding mobile obstacle,Zhukovsky transformation is used to optimize the configuration and function of potential model.A further investigation of vortex is applied to prevent the local minima.After that,the concept of virtual source is introduced for path planner to generate an optimized trajectory.In the end,the issue of multi-obstacle potential superposition is discussed.To verify the algorithm,comparisons between improved method and traditional one by various circumstances in simulation are conducted.The simulation results indicate that in the improved method,potential field is able to lead robot to avoid mobile obstacles according to velocity vectors of obstacles.Besides,the method is more efficient when preventing local minima.关键词
势流理论/路径规划/势场法/轨迹优化Key words
potential flow theory/path planning/artificial potential field/trajectory optimization分类
信息技术与安全科学引用本文复制引用
胡小平,李泽玉..一种改进的势场法路径规划算法[J].机械科学与技术,2017,36(10):1521-1529,9.基金项目
国家自然科学基金项目(61572185,60975069)与湖南省科技计划项目(2014GK3160)资助 （61572185,60975069）
