【作者】 宁凯凯； 张友民； 穆凌霞； 辛菁； 薛向宏； 刘涵； 谢国； 焦尚斌；

【Author】 Kaikai Ning;Youmin Zhang;Lingxia Mu;Jing Xin;Xianghong Xue;Liu Han;Guo Xie;Shangbin Jiao;Department of Information Control,School of Automation,Xi’an University of Technology,Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing;Department of Mechanical,Industrial and Aeronautical Engineering,Concordia University;

【机构】 西安理工大学自动化学院信控系陕西省复杂系统控制和智能信息处理重点实验室； 康考迪亚大学机械工业与航空工程系；

【摘要】 本文针对人工势场法在多障碍物地图中构建路径难、易陷入局部极小值和目标点靠近障碍物时目标点不可达的问题,提出了一种基于人类判断障碍物可行角度思维的人工势场法改进算法。在计算引力与斥力时,同时获取提供斥力的障碍物坐标点集。当机器人陷入局部极小值时,分别计算出可行角度集与不可行角度集,在可行角度集中找出与目标点角度最小的可行角度,沿着当前可行角度行走一定路径,走出机器人局部极小值困境。利用MATLAB仿真验证了该算法的可行性,解决了人工势场法在多障碍物地图中构建路径困难、易陷入局部极小值的问题。更多还原

【Abstract】 In this paper,an improved artificial potential field method based on human thinking to judge the feasible angle of obstacles is proposed to solve the problems that the artificial potential field method is difficult to construct the path in multi-obstacle map,since it is easy to fall into the local minimum and the target point is unreachable when the target point is close to the obstacle.In the calculation of gravitation and repulsion,the set of obstacle coordinate points providing repulsion is obtained at the same time.When the robot is trapped in the local minimum,the feasible angle set and the infeasible angle set are calculated respectively,and the feasible angle with the minimum angle to the target point is found in the feasible angle set,and the robot walks along a certain path along the current feasible angle to get out of the local minimum dilemma.The feasibility of the algorithm is verified by MATLAB simulation,which solves the problem that the artificial potential field method is difficult to construct the path in the multi-obstacle map and easy to fall into the local minimum.更多还原