动态复杂环境下的智能移动机器人导航

Intellectual Mobile Robot Navigation Under the Dynamic Complex Environment

人工势场法以其快捷的环境描述和算法形式,在机器人实时避障中得到了广泛的应用。但传统的人工势场法在目标点与障碍太近时,存在机器人不能达到目标点或在目标点附近振荡的缺陷,动态避障一直是避障的难点,本文提出了将时变势场法与角度势场法相融合的策略,此方法适用于动态复杂环境下的避障,仿真结果证明了上述方法的有效性。

The artificial potential field method with its fast environment description and algorithm formation is widely used in realtime mobile robot obstacle avoidance problems. The traditional artificial potential field methods have some problems that robot can′t reach target point or causes oscillation near target point when target point is close to obstacle. Dynamic obstacle avoidance has been the difficulty of avoiding obstacles. The strategy combined the time-varying potential field method with angel potential field method is presented in this paper. This method is suitable for dynamic obstacle avoidance under the complex environment. Simulation results show the effectiveness of the algorithm.