摘要
基于人工势场法的移动机器人路径规划具有目标不可达、在障碍物前振荡、存在局部极小值等问题。通过分析振荡现象产生的原因以及局部极小值点存在的原因,提出一种基于人工势场模型、采用量子粒子群算法来选择人工势场模型参数的算法,从而克服人工势场法的模型缺陷,实现路径的优化。仿真结果表明,该方法能有效地提高路径规划的性能。
To the problems of the goal unreachable in path planning of mobile robot with artificial potential field,oscillation in front of a barrier and existence of a local minimum point value,and through analyzing the causes of oscillation and existence of a local minimum point value,a method based on model of artificial potential field and selection of parameters of potential field model by QPSO were proposed.The defects of potential field model were solved and the path was optimized.Simulation result shows the proposed method can effectively improve the performance of path planning.
出处
《机床与液压》
北大核心
2011年第9期68-70,共3页
Machine Tool & Hydraulics
