摘要
分析了传统势场法在动态环境下的不足,并在此基础上引入了速度势场的概念,改进了传统的势场函数,推导出新的引力函数和斥力函数.在新的势场函数作用下机器人能够快速调整自身的速度大小和方向,使其快速脱离障碍物的威胁并能快速地到达目标或追踪目标.仿真实验验证了新的势场方法的有效性.
This paper firstly analyses the limitations of traditional potential field methods in dynanmic environment, and based on this analysis, the traditional potential field is improved by introducing the concept of velocity potential field. Then a new attrective force function and new repulsive force function are deduced, with which the robot, can adjust its velocity to escape from obstacles, and move to target quickly, or track target synchronously, The effectiveness of the new potential field is verified by simulations.
出处
《机器人》
EI
CSCD
北大核心
2006年第1期45-49,共5页
Robot
关键词
移动机器人
运动规划
人工势场
速度势场
mobile robot
motion planning
artificial potential field
velocity potential field
