中国计量大学学报2023，Vol.34Issue(4)：556-562,7.DOI:10.3969/j.issn.2096-2835.2023.04.009
基于动态窗口法与人工势场法融合的差速机器人路径规划算法
A differential robot path planning algorithm combining the dynamic window algorithm and the artificial potential field
摘要
Abstract
Aims:An improved dynamic window method combined with the artificial potential field method was designed to reduce the path oscillations of the traditional algorithm.Methods:The linear obstacle distance evaluation function in the traditional DWA was improved to be a nonlinear obstacle potential field function in the APF.The feasibility of the algorithm was verified as compared with the traditional algorithm through the MATLAB simulation and experiment.Results:Compared with the original algorithm,the improved dynamic window method reduced the oscillation;and the path was smoother.In the simulation,the improved algorithm reduced the path by 2.5％and the running time by 40.9％.In the hardware experiment,the path was reduced by 8.8％;and the running time was reduced by 13.9％.Conclusions:The path generated by the improved dynamic window method has better smoothness and shorter path length and running time.关键词
差速机器人/路径规划/动态窗口法/人工势场法Key words
differential robot/path planning/dynamic window method/artificial potential field method分类
信息技术与安全科学引用本文复制引用
周睿,周坤,刘大亮,王斌锐..基于动态窗口法与人工势场法融合的差速机器人路径规划算法[J].中国计量大学学报,2023,34(4):556-562,7.基金项目
浙江省重点研发计划项目(No.2021C01069) （No.2021C01069）
