摘要
文中在分析足球机器人避碰的特点及传统人工势场法的不足的基础上,提出了引入障碍物和机器人自身的速度和加速度来改进人工势场法,并提前对规避动作做出预判来实现优化人工势场的方法。仿真试验表明,这种方法是可行的,可以有效地弥补传统人工势场的缺陷。
Investigates the characteristics of mobile robot collision avoidance, and points out the disadvantages of traditional artificial potential field. An evolutionary artificial potential field is presented, in which the velocity and acceleration of both robot and obstacle are considered.While it can identify the next action in advance, The simulation is carried out to verify the reliability of this method, which can enhance the efficiency of traditional artificial potential field.
出处
《计算机技术与发展》
2006年第4期96-98,共3页
Computer Technology and Development
关键词
移动机器人
路径规划
人工势场
mobile robot
path planning
artificial potential field
