基于势场法的移动机器人避障路径规划

Anti-collision Path Planning for Mobile Robot Based on Potential Field Method

针对势场法所固有的几个缺陷,提出了一种基于势场法的移动机器人避障路径规划算法,并成功应用于未知复杂环境下移动机器人的路径规划中。仿真试验表明:提出的方法具有较强的路径规划能力,克服了传统势场法的缺点,具有较强的实用性。

For the innate limitations of the principle of potential field,this paper proposes an new algorithm for mobile robot anti-collision path planning,which is based on potential field method.And successfully used it for mobile robot path planning in the uknown complex environment. Simulation results demonstrate that the proposed method performs path planning very well, overcomes the drawbacks of the conventional potential field methods, and has good practicality.