新型势场法的移动机器人避障研究

Research on Obstacle Avoidance of Mobile Robots Based on a New Potential Field

针对传统人工势场法的障碍物附近目标不可达问题和其他一些的固有缺陷,提出了一种新型势场算法。该算法引入了新的势场函数和沿墙跟踪算法,成功地解决了在移动机器人避障过程中的障碍物附近目标不可达问题和陷阱区域等问题。仿真结果证明了此方法的有效性。

In this paper,for the GNRON problem and other problems of the traditional artificial potential field,a new method is designed,which adds the new potential function and the wall following.It can get across the trap area quickly and arrive at the goal successfully due to the obstacle nearby.The experiment results show that the new algorithm,compared to the traditional algorithm,can achieve better performance.