机器人2025，Vol.47Issue(5)：696-707,12.DOI:10.13973/j.cnki.robot.240209
基于改进人工势场算法的移动机器人路径规划方法
A Path Planning Method for Mobile Robots Based on the Improved Artificial Potential Field Algorithm
摘要
Abstract
The traditional artificial potential field(APF)algorithm has drawbacks such as target inaccessibility,local min-ima,and low planning efficiency in the process of path generation.To address these issues,this paper proposes an improved APF algorithm.For the problem of target inaccessibility,a new repulsive field function is designed,which dynamically adjusts the repulsion exerted by obstacles near the target point on the robot by introducing a sine distance factor.For the local minima problem,an tangent vector algorithm of obstacle boundary point group is proposed,which constructs a virtual point group using the obstacle boundary to calculate temporary target points for escaping local minima.For the problem of planning efficiency,a method of adaptive step size is adopted,which adaptively selects the iteration step size according to the congestion degree of obstacles around the robot.This not only reduces the number of iterations,but also prevents the robot from being repelled due to being too close to obstacles.Simulation results show that the improved algorithm can effectively solve the problems of target inaccessibility and local minima in the traditional APF.In scenarios without such problems,the path length of the improved algorithm is close to that of the traditional APF,while the planning time is shortened by approximately 23.52％.Through horizontal comparison experiments with the current mainstream robot local path planning algorithms,the superiority of the proposed algorithm in terms of planning efficiency and path quality is further verified.Finally,experiments on real robots confirm the feasibility and effectiveness of the algorithm.关键词
路径规划/机器人/改进人工势场算法/避障Key words
path planning/robot/improved APF(artificial potential field)algorithm/obstacle avoidance引用本文复制引用
黄锋,张志慧,姜静,唐凤珍..基于改进人工势场算法的移动机器人路径规划方法[J].机器人,2025,47(5):696-707,12.基金项目
国家自然科学基金(62273335) （62273335）
中国科学院稳定支持基础研究领域青年团队计划(YSBR-041). （YSBR-041）
