摘要
在一般势场法的基础上,针对动态环境中,目标和障碍物都是运动的条件下,提出了一种改进的势场法。通过在吸引力势场函数中引入相对速度和设置机器人的避碰预警距离等方法解决了目标移动环境下路径规划的问题。仿真实验证明该方法是有效的。
Based on a traditional potential field method, a modified potential field method was presented adapting to dynamic environment with moving target and moving obstacles. The relative velocity between the robot and the target was introduced to the attractive field function and early warning distance between the robot and the obstacle for collision avoidance was set up. So the problem of path planning of mobile robot was solved in dynamic environment with moving target. The simulation experiment shows that the method is effective.
出处
《机床与液压》
北大核心
2006年第3期92-93,共2页
Machine Tool & Hydraulics
关键词
路径规划
势场法
预警距离
Path planning
Potential field method
Early warning distance
