【作者】 朱华健； 王军政； 李静；

【Author】 Huajian Zhu,Junzheng Wang,Jing Li Key Laboratory ofComplex System Intelligent Control and Decision,Beijing Institute ofTechnology,Beijing 100081

【机构】 北京理工大学复杂系统控制与决策重点实验室；

【摘要】 提出了一种移动机器人路径规划新型势场法。在分析传统人工势场法由于局部极小点问题导致路径规划失败原因的基础上,通过设置虚拟目标点,直接构造一条势能最低路径。假设路径由许多小段组成,每一小段称为一个路径因子。路径因子的坐标可以通过求解一组方程获得。机器人路径上的每一点都将是势能极小点,机器人沿着路径因子的位置向目标前进。该方法解决了人工势场法局部极小点问题、目标不可达问题和振荡运动问题。仿真结果表明,新型势场法可行有效。更多还原

【Abstract】 This paper presents a novel artificial potential field method for path planning of mobile robot On the basis of analyzing traditional artificial potential field method local minimum problems,which cause failure of path planning,a potential field energy minimum path is created directly by placing dummy goals Assuming that the path consists of many small pieces.every small piece is called a path factor Coordinate of each path factor can be obtained by SOlving a set of equations Each point on the path will be the potential energy minimum Robots head to the goal along the position of each path factor This new method solves the local minimum problem,as well as the destination unreachable problem and the oscillatory movement problem The simulation results show that the new method proposed is correct and ef_fective更多还原