水下多障碍区域机器人的路线规划模型优化设计

Obstacles Area Underwater Robot Route Planning Model of Optimization Design

水下多障碍区域中障碍物数量较多,且具有随机性和实时性的特点,传统模型依据起始点、目标点及障碍物顶点等建立可视图,一旦障碍物发生变化则需重新构图,无法适应障碍物的随机性,规划的机器人运行路线臃长,提出一种基于改进人工势场法的水下多障碍区域机器人路线规划模型,通过引力场与斥力场的负梯度描述引力和斥力,获取人工势场对机器人的作用力,建立人工势场模型。通过对人工势场斥力函数的优化设计,解决机器人障碍物附近目标不可达的问题;通过障碍物连接法解决人工势场模型的局部最小值问题,使机器人尽快走出局部最小值区域。实验结果表明,所提模型不仅能够有效避开障碍物,而且规划路径较短,效率高。

Underwater obstacle areas has a large number of obstacles,and has the characteristics of randomness and real-time performance.Traditional model use the starting point,target and obstacle vertex to set up can view,Once the obstacles changed,it must be back to the drawing,unable to adapt to the obstacles of randomness,planning robot running routes was so long.Kind of underwater obstacle areas more robot route planning model was out forward which was based on the improved artificial potential field method.By using the gravitational field and the repulsive force field of negative gradient,the attraction and repulsion was described,Accessing the artificial potential field force of robot,artificial potential field model,optimization design the repulsion of artificial potential field function were established to solve the problem of robot obstacle near the target unreachable.By using obstacles connection method,the problem of local minimum of artificial potential field model was solved,which makes robots out of local minimum area as soon as possible.The experimental results show that,the proposed model not only can effectively avoid obstacles,but also the planning path is shorter,and have higher efficiency.