【摘要】 分析了势场法用于移动机器人路径规划中产生目标不可达问题的原因,提出了改进的斥力势场函数,将机器人与目标的相对距离考虑在内,以确保总的势场力在目标位置全局最小。改进的势场法应用于足球机器人避碰控制。仿真与应用结果表明,它能有效地解决在目标附近有障碍物时目标不可达问题。更多还原

【Abstract】 This paper analysed the causes of goal nonreachability when the potential field method was utilized in robot path planning and gave the modified repulsive potential function. In order to ensure global minimum of the total potential in the goal position, the relative distance between the robot and the goal was considered. The modified potential function was applied to anti-collision control of soccer robot. The results of simulation and application have verified that the modified potential field method can solve the problem effectively when obstacles exist near the goal.更多还原