摘要
人工势场法因简单实用、易于实现等优点,在机器人导航中获得广泛应用。势函数的构造也随着其它相关技术的发展不断得到完善。该文综述了势函数应用于机器人自主导航的发展历程,对其存在的问题作了分析,并对各种改进方案做了分析和比较,对影响其发展的制约性问题做了深入探讨。
Artificial potential field methods (APFs)has been widely used in the navigation of mobile robots for simplicity,practicality and implement easily. Potential function has been improved constantly with other correlative development of technology. This paper summarizes the development of potential function,analyses the drawbacks of the APFs and its reasons,compares different methods and mines the important issues drastically.
出处
《自动化与仪表》
2007年第4期8-12,35,共6页
Automation & Instrumentation
基金
国家自然科学基金项目(50407017)
安徽省教育厅自然科学基金项目(2004KJ058
2006KJ019A)
关键词
人工势场
移动机器人
自主导航
避障
artificial potential field methods (APFs)
mobile robot
autonomous navigation
obstacle avoidance