基于虚拟障碍物法的无震荡航路规划

Non-oscillation Path Planning Based on Virtual Obstacle Method

人工势场法作为路径规划的一种算法,凭借其解算得到的平滑航路,特别适用于不够灵活的移动机器人、智能体的路径规划。由于人工势场法自身不可避免地存在局部极小值以及算法执行不可避免的离散化,导致航路点解算可能会陷入局部极小值陷阱而进入死循环以及出现航路点震荡问题。针对局部极小值陷阱问题,提出改进型虚拟障碍物法;对虚拟障碍物位置的确定,引入了威胁区的概念,并提出了一个确定标准。针对航路点震荡问题,提出过滤震荡点法。仿真实验证明:改进型虚拟障碍物法能够有效地使陷入局部极小值陷阱的航路点解算,成功逃出陷阱;过滤震荡点法能够有效地消除震荡航路点,得到相对平滑的航路。

The artificial potential field method,as a path planning algorithm,is used for the path planning of clumsy mobile robots,agents and so on because it can provide a smooth route.Due to the inevitable existence of local minimum and discretization of algorithms during algorithm execution,the calculation of the route point may fall into the local minimum trap,which may result in the infinite loop of algorithmic program and the oscillation of path point.For local minimum trap,an improved virtual obstacle method is proposed to overcome this problem.The definition of threat area is introduced to determine the location of virtual obstacle,and a determining standard is put forward.A filtering oscillation point method is proposed to solve the problem of path point oscillation.The simulated results show that the route points which are stuck in local minimum trap can escape from the trap successfully using the improved virtual obstacle method.Additionally,the oscillation route points can be effectively eliminated to obtain a relatively smooth route by the filtering oscillation point method.