改进角度势场算法在移动机器人避障中的应用

An improved angle potential field in the application of avoid obstacles of mobile robot

移动机器人中的一个基本问题就是如何即时处理激光雷达测得的信息,进行障碍物避让。本文以TYIRV-I移动机器人为研究对象,对原系统中激光雷达的避障算法——角度势场法中的引力函数进行了修正。通过在VC++6.0中的仿真证明,采用改进的角度势场法的雷法避障方法在设定条件情况下是有效、可行的。

One of the essential problems in a mobile robot is how to process information obtained from lidar to avoid obstacles.This research makes a deep and systematic study of the robot's obstacle avoidance based on the TYIRV-I Mobile Robert.The original attraction function of Angle Potential Field(APF) which is the old algorithm was changed.The method of obstacle avoidance,is simulated which is based on VC++6.0,for proving the correctness of algorithm.It proofs that this algorithm has practicalities in some extent.