摘要
基于工作环境中目标、障碍物、机器人均为动态的考虑,提出了改进的人工势场构建方法,将各物体的相对速度和加速度因素引入势能函数中。作用于机器人的虚拟力不但驱使其与运动的目标点暂时保持相同的位置,而且趋向于保持相同的速度和加速度,即相同的运动趋势,以达到动态跟踪目标的目的。基于MATLAB平台的仿真结果验证了本算法的可行有效性。
An improved construction method of artificial potential field was proposed based on the consideration that the goal robot and obstacles in work space are all dynamic. The relative velocity and acceleration factors were brought into the potential functions. The virtual force acting on the robot drives it to move with the same position, velocity and acceleration with the goal, i.e. keep the same moving trend. So the robot can follow the goal dynamically. The simulation result based on MATLAB platform validates the effectiveness of the algorithm.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第11期3325-3328,3341,共5页
Journal of System Simulation
基金
国家自然科学基金(60374032)
关键词
人工势场
移动机器人
路径规划
动态环境
相对速度
相对加速度
artificial potential field
mobile robot
path planning
dynamic environment
relative velocity
relative acceleration
