采用分区场能切换法的路径规划

Path planning by using region potential field switch method

为解决改进人工势场法应用中出现的路径规划失败问题,提出了分区场能切换法,其包括地图标定和算法设计.先对地图中的障碍物按不同的形状进行分类标定,然后设定最小单元,设立绝对防御区和缓冲区.在不同的区域基于改进人工势场法重新设计算法,使机器人在绝对防御区只受斥力,在缓冲区受到斥力和引力,在缓冲区外只受引力,从而保证机器人往目标运动的过程中能快速靠近并成功避开障碍物.通过Matlab仿真实验,在标定好的地图中分别采用改进人工势场法和分区场能切换法,证明了所提方法的可靠性.

To solve the path planning failure of improved artificial potential field（APF）method in application,a region potential field switch method（RPFSM）is proposed.It includes the map definition and algorithm design.Firstly,the different shape obstacles on the map are defined by classifications,then the smallest cell which includes the absolute defence zone and buffer zone is set.Based on the improved APF method the algorithm is redesigned at different zones.The redesigned algorithm makes the robots only receiving repulsion in the absolute defence zone,both repulsion and attraction in the buffer zone and only attraction outside the buffer zone.Thus,it can make the robot arrive at the aim very fast and avoid obstacles successfully.The reliability of the proposed method is testified by the Matlab simulation experiments using respectively the improved APF method and the RPFSM in the defined map.