动态环境下基于改进人工势场法的机器人运动规划

Motion robot planning in dynamic environment based on iraproved artificial potential field method

提出了一种用于动态环境下的改进的人工势场法,该方法主要从两方面对传统人工势场法进行了改进:使用基于势场强度方法来取代矢量合成方法;将障碍物的运动信息引入到排斥势函数中,使传统的静态势场变为动态势场.通过这种方法可以使机器人对移动障碍物的避碰更有效.

This paper propose a kind of improved artificial potential field method applied in the dynamic environment. Two aspects of the traditional artificial potential field method are improred with this methocl: Using the potential field intensity-based method to replace the vector confusion method; Combining the motion information into the repulsive force function, which transform the static artificial field function to the dynamic artificial field function. Using this method, moving obstacle avoidance can be performed more efficiently.