基于弹簧模型的移动机器人路径规划研究

Research on mobile robots' path planning based on a spring model

针对传统人工势场法在路径规划中存在局部极小点问题,提出了一种基于虚拟弹簧模型的移动机器人局部路径规划算法。通过模拟弹性小球在有障碍物的斜坡上滚下过程中的受力情况,规划移动机器人从开始位置到目标点位置的移动过程;建立弹簧力学模型完成机器人的避障行为,并结合使用沿障碍物边缘移动和切换目标点位置两种控制策略,解决局部路径规划算法极易出现的局部极小点问题。仿真试验和实际移动机器人的实验表明,该算法能进行实时避障和路径规划,并确保移动机器人在绝大部分环境中能安全、快速地到达目标点。

To address the problem of local minimum existing in the traditional artificial potential field method, a novel local path planning algorithm for mobile robot based on the virtual spring method is presetned. By simulating the force situation of an elastic ball rolling down the slope filling with obstacles, the process of mobile robot moved from the starting position to the target position is taken into considera- tion. The spring mechanics model is utilized to accomplish the behavior of robot obstacle avoidance, and multiple control strategies are used to solve the problem of local minimum. Both the simulation experiments and real mobile robot experiments show that mobile robot＇ s real-time obstacle avoidance and path planning can be well performed, and the robot can reach the target point safely and quickly in most environments.