基于改进人工势场法的移动机器人路径规划

Path planning of mobile robot based on improved artificial potential field approach

为解决传统人工势场法用于机器人路径规划时出现的各种问题,提出相应的改进方法。针对障碍物距目标点太近导致的目标不可达问题,采用缩小障碍物影响范围的方法来解决;针对局部极小点导致的陷阱问题,提出障碍物影响范围分层的思想,使机器人能够顺利到达目标点。改进后的势场法适用于各种复杂环境下的移动机器人路径规划,且可以进行优化路径选择,仿真结果表明了该方法的有效性。

To solve the path planning problems of mobile robot using traditional artificial potential field method,the corresponding improved methods were proposed.The method of narrowing the influence area of obstacles was applied to deal with the problem caused by the obstacles in the vicinity of the goal,which made the goal point unreachable.In addition,the hierarchical thinking of obstacle influencing scope was proposed to help the robot escape from the local minimum point to successfully reach the goal point.The improved potential field approach is applicable to path planning of mobile robot in complicated environment and it looks for the optimization path.The effectiveness of this improved approach is verified by simulation results.