一种基于人工势场的简化算法

A Simplified Algorithm Based on Artificial Potential Field

针对传统人工势场算法存在当障碍物过多时算法较为冗杂、计算量大、占用电脑运行内存较多等问题,提出一套简化方案,去除冗余障碍物,只留下对机器人运动影响最大的障碍物,避免在每一步长运算中出现过多的非必要运算,降低算法对计算机运行内存占用,提高计算机运行效率。通过MATLAB程序仿真,将仿真结果与传统人工势场算法相对比,结果显示简化后的算法能够有效降低计算机运行空间。

Traditional artificial potential field algorithm is complicated when there are too many obstructions, the calculation is large,and the computer occupies more memory. In order to deal with these problems, a simplified scheme was proposed in this paper toremove redundant obstacles and leave useful obstacle in the motion of the robot. The most influential obstacles were to avoidexcessive and unnecessary calculations in each step of the robot爷s operation, so that the algorithm would reduce the computer爷sstorage and improve the computer爷s operating efficiency. Compared with the traditional artificial potential field algorithm, theMATLAB program showed that the simplified algorithm could effectively reduce the computer operating space.