摘要
针对传统人工势场法在多障碍物环境中进行路径规划存在局部极小值,以及动态环境中移动机器人无法实时路径规划等问题,提出一种动态模糊控制的改进人工势场法,通过在势场力函数中引入速度矢量项,并采用模糊控制方法实时调节斥力场系数,从而实现在动态多障碍物的环境下机器人快速、实时、自适应的路径规划。仿真结果表明,该方法有效可行,在典型位置关系及特殊运动状态下均可获得良好的路径规划性能。
For traditional artificial potential field （APF） method, the local minima problem exists and can not sat- isfy the requirement of real-time for path planning of mobile robots in the multi-obstacle dynamic environment. A new APF method based on dynamic fuzzy control is proposed in this paper. The potential field force function is modified by introducing the velocity vector. The coefficients of potential field of repulsive force are adjusted by fuzzy control method. A fast real-time self-adaptive path planning method with dynamic multi-obstacle is realized. The simu- lation results show that the method is effective and feasible, and can get much better performance of path planning in typical location relationship and special motion relationship.
出处
《计算机仿真》
CSCD
北大核心
2011年第1期27-31,共5页
Computer Simulation
基金
This work is supported by Excellent Talents Foundation of the Organization Department of Beijing Municipal Committee (D2009D005003000001)
The Research Foundation for Youth Scholars of Beijing Technology and Business University
关键词
移动机器人
路径规划
人工势场法
模糊控制
Mobile robot
Path planning
Artificial potential field（APF）
Fuzz control
