基于单目视觉的机器人人工势场法路径规划研究

Study on Artificial Potential Field Path Planning of Robot Based on Monocular Vision

本文对国内外智能移动机器人的研究现状和发展趋势进行了分析,介绍了机器人单目视觉场景的基本单目视觉,分析了传统人工势场法在路径规划上存在的问题,为进一步研究单目视觉控制下的机器人进行人工势场法路径规划的问题作了准备.其次重点介绍了改进后的人工势场法的基本原理,对现有算法进行了优化,公式推导结果显示其解决了传统人工势场法中对于目标点不可到达的问题,并且进行实验仿真,仿真结果表明本文方法达到预期的目标.

Present situation and development trend of intelligent mobile robot at home and abroad to introduce the basic monocular vision,the robot monocular visual scene analysis of the problems of the traditional artificial potential field method,preparations were made for further research on the robot path planning problem. Second focuses on the basic principle of the artificial potential field method improvements, existing algorithms optimized, solving the problem of traditional artificial potential field method unreachable target point,and simulation can achieve the desired goals.