河北工业科技2018，Vol.35Issue(3)：178-184,7.DOI:10.7535/hbgykj.2018yx03005
基于改进AG算法的机器人动态路径规划方法
Robot dynamic path planning method based on improved AG algorithm
摘要
Abstract
In order to make full use of the superiority of Agoraphilic(AG)algorithm,and make it be used for path planning in dynamic environment,the traditional AG algorithm is studied and improved.The relative velocity component between robot and dynamic obstacles is added when calculating the free space force.The component can be decomposed into two directional forces:one force moves the robot away from obstacles,and the other force moves the robot in the direction perpendicular to the obstacle and acts as a motive force for the robot to walk around.Simulation experiments are performed by using Matlab,and the improved AG algorithm is compared with several other dynamic path planning methods.The improved AG algorithm can help the robot avoid the dynamic obstacle rapidly,effectively avoiding dynamic obstacles.The improved AG algorithm can not only can solve the problem that a robot avoids dynamic obstacles and reach the target point in dynamic environment,but also has the advantages of shorter path length,less cost time and smoother path than other dynamic path planning algorithms.关键词
计算机仿真/移动机器人/路径规划/动态环境/改进AG算法/动态避障Key words
computer simulation/mobile robot/path planning/dynamic environment/improved AG algorithm/dynamic obstacle avoidance分类
信息技术与安全科学引用本文复制引用
王楠,张军,解鹏..基于改进AG算法的机器人动态路径规划方法[J].河北工业科技,2018,35(3):178-184,7.基金项目
天津市自然科学基金(14JCYBJC18500) （14JCYBJC18500）
