摘要
目前,人工势场法在移动机器人动态环境避障中应用非常广泛,就此提出一种改进的动态人工势场法,并采用"360°扇区划分"策略解决机器人避障过程存在的局部最小点和目标点附近振荡两大难题。
At present, artificial potential field method is widely used in dynamic environment avoidance of mobile robot. In this paper, an improved dynamic artificial potential field method is proposed based on traditional artificial potential field method. At the same time, the ＂360-degree sector division＂ strategy is adopted to solve the local minimum points and the target near oscillation.
作者
李奕铭
于传
陈伟
梁皓
Li Yiming Yu Chuan Chen Wei Liang Hao(Anhui Electrical Engineering Professional Technique College, Hefei Anhui 230022 Training Center of State Grid Anhui Electric Power Company, Hefei Anhui 230022 Xuancheng Electric Power Supply Company, State Grid Anhui Electric Power Company, Xuancheng Anhni 242000)
出处
《现代工业经济和信息化》
2017年第13期8-10,共3页
Modern Industrial Economy and Informationization
基金
安徽电气工程职业技术学院项目(2015ybxm06)
关键词
移动机器人
避障
人工势场法
局部最小点
mobile robot
obstacle avoidance
artifical potential field
local minimum point
