一种人工势场路径规划改进算法的研究

An Improvement of a Path Planning Algorithm Based on Artificial Potential Field

针对人工势场法中局部最小问题产生的根源,提出一种在局部最小区域设置虚拟目标物的解决方法。不同的障碍物采用不同的策略设置虚拟目标物,打破局部最小区域的受力平衡,使得障碍物在虚拟目标物的引力作用下顺利走出局部最小点,到达目标。仿真试验验证了该方法的有效性。

To avoid the disadvantage of artificial potential field, for existing the local stability point on the path planning, adopts the solution of setting virtual object point, difference strategies are adopted for difference obstacles, breaks the balance of the force, and makes the mobile robot go out of the local stability point, arrives at the object point, the effectiveness of this method is verified by simulation results.