摘要
针对移动机器人对动态目标的追踪和对拦截型障碍物的避障问题,将势场法进行改进,提出了辅助斥力环方法,改变了传统势场法中斥力的作用方式和机器人的避障策略,使其在动态环境下处理避障问题更加灵活有效,仿真研究验证了此方法的有效性。
A repulsive force ring method is presented to improve the artificial potential field algorithm to solve the problem of dynamic tracking and obstacle avoiding for mobile robots.The method is flexible and effective for mobile robots to avoid collision in dynamic environment, and is verified by simulation.
出处
《自动化技术与应用》
2007年第4期8-10,共3页
Techniques of Automation and Applications
基金
黑龙江省自然科学基金项目(E9803)
关键词
动态追踪
势场法
路径规划
dynamic tracking
artificial potential field
path planning
