人工势场法目标不可达的研究

Research on inaccessible aim of artificial potential field method

针对传统人工势场法的缺陷,提出了一种新的改进方法来实现路径规划,更快的规划出一条平滑可行的路径,通过把人工势场法的斥力场函数作用域大小进行动态修改,成功抵达目标点,在目标点附近有障碍物时也能规划出可行路径,通过增加子目标点的方式来解决局部极小点问题,利用增加的子目标点的牵引力使移动机器人成功逃脱局部极小点,抵达目标点。最后仿真验证了改进的人工势场法可以更快的规划出路径,而且路径更加平滑。所提出的改进算法,在移动机器人自主路径规划中,能有效缩短路径长度,提高到达目标点的效率,高效完成路径规划。

Aiming at the shortcomings of the traditional artificial potential field method,an improved method is proposed to realize path planning and plan a smooth and feasible path faster.By dynamically modifying the size of the repuision force field function of the artificial potential field method,it successfully reaches the target point,the feasible path can also be planned when the obstacle is near the target point,and the problem of local minimum point is solved by increasing sub target point,the traction force of the sub target point is used to make the mobile robot escapes the local minimum point and reaches the target point.Finally,the simulation results show that the improved artificial potential field method can plan the path faster and the path is smoother.The proposed algorithm can effectively shorten the path length and improve the efficiency of reaching the target point and efficiently complete path planning in the mobile robot autonomous path planning.