基于改进势场法的移动机器人避障路径规划

Anti-collision path planning for mobile robot based on modified potential field method

分析了机器人路径规划方法中的人工势场法的不足,提出了改进势场法.该方法改进了斥力函数,增加了安全距离并将障碍物的影响距离根据障碍物的密集程度设置成一个动态值,并解决了抖动问题.针对局部极小问题采用虚拟障碍的概念,虚拟障碍是靠近局部极小点,用于把机器人从局部极小点区域驱逐出去,从而脱离局部极小并成功绕过障碍物到达目标点.改进势场法成功地应用于未知复杂环境下移动机器人的路径规划中,仿真实验证明了该方法的正确性和有效性.

Aiming at the limitation of the traditional artificial potential field method,a modified potential field method is proposed.A new repulsive force function is improved by increasing a safe distance and setting up a dynamic impact distance according to the intensity of the obstacles.Using the virtual obstacle concept,local minimums occurred in robot path planning can be efficiently avoided.The virtual obstacle is located around local minimums to repel a mobile robot from local minima.The proposed method is applied to mobile robot path planning in an unknown complex environment.The simulation results show that the proposed method is valid and effective in the path planning.