改进人工势场法自主移动机器人路径规划

Autonomous Mobile Robot Path Planning Based on Improved Artificial Potential Method

为了克服人工势场法在移动机器人路径规划中存在的缺陷,提出了改进的人工势场法。排除在机器人移动方向一定角度范围外的障碍物的斥力作用,降低计算量;在斥力函数中引入机器人与目标点距离因子,解决目标不可达问题;采用切线法解决单个障碍物形成的局部极小点问题,搜索法解决多个障碍物同时作用形成的局部极小点问题。考虑路径规划复杂度,提出自适应步长调节算法。最后在Matlab平台上进行了仿真实验,实验结果证明,改进后的人工势场法可以克服目标不可达问题、局部极小值问题,同时在计算量、路径规划步数、路径光滑度等方面具有一定的优越性。

In order to overcome the shortcomings of artificial potential field method in path planning of mobile robots, an improved artificial potential field method is proposed. The obstacles that outside the range of robot’s movement are removed to reduce the amount of calculation;the distance between the robot and the target is introduced in the repulsion function to solve the problem of unreachable target. The tangent method is used to solve the problem of local minima point formed by the action of a single obstacle, and the search method is used to solve the problem of local minima point formed by the simultaneous action of multiple obstacles.Considering the complexity of path planning, an adaptive step adjustment algorithm is proposed. Finally, a simulation experiment is carried out on the Matlab platform. The experimental results show that the improved artificial potential field method can overcome the target unreachable problem and local minimum problem, and at the same time it has a greater superiority in amount of calculation, path planning steps and path smoothness.