西安理工大学学报2024，Vol.40Issue(1)：27-35,9.DOI:10.19322/j.cnki.issn.1006-4710.2024.01.003
改进人工势场算法的路径规划
Path planning based on improved artificial potential field algorithm
摘要
Abstract
The artificial potential field method is an algorithm suitable for local path planning.In response to the inherent defects by the artificial potential field method such as the unreachable targets and local minima,an improved artificial potential field method is proposed.Firstly,to ad-dress the issue of unreachable targets,the gravitational influence factor is added to the generation of the repulsive field,with the repulsive field function improved to avoid the situation where the combined force of gravity and repulsion is zero.For the problem of local minima,additional ex-ternal forces are introduced by setting virtual target points to break the balance problem of the ro-bot.Through comparative experiments with other algorithms,simulation results show that the improved artificial potential field method has shorter path length and consumption time and is of stronger stability.关键词
人工势场/路径规划/势场函数/虚拟目标点/移动机器人Key words
artificial potential field/path planning/potential field function/virtual target point/mobile robot分类
信息技术与安全科学引用本文复制引用
张铮,薛波,柯子鹏,金子博,邱达河..改进人工势场算法的路径规划[J].西安理工大学学报,2024,40(1):27-35,9.基金项目
国家自然科学基金资助项目(52003078) （52003078）
