基于改进人工势场法的移动机器人局部路径规划的研究

Study of Local Path Planning of Mobile Robot based on Improved Artificial Potential Field Method

本文介绍了一种常用的移动机器人局部路径规划方法—人工势场法,分析了传统的人工势场法由于局部最小问题而导致规划失败的原因,综述了解决该问题的方法,在此基础上重点介绍了一种通过改变斥力势场函数来解决局部最小问题的改进方法,并给出了仿真结果。

This paper introduces a common method about local path planning of mobile robot--artificial potential field （APF）, and discusses the matters what leads to failure in the planning of traditional APF because of the local minimum problem, and summarizes the methods which are used to solve this problem. And an improved method is emphasized introduced to solve the local minimum problem through the change of the potential field function of the repulsive force and the emulational results are given in this paper.