基于人工流场的移动机器人路径规划方法研究

Research on mobile robot path planning method based on artificial flow field

针对移动机器人路径规划问题,将二维流体流动过程与机器人移动过程相结合,提出基于人工流场的移动机器人路径规划方法,即人工流场法AFF.该方法首先在移动机器人的规划空间中建立虚拟流场,然后求解虚拟流场的速度场分布和压力场分布,而后获得一组流线簇,最后依据所定义的最优路径评价准则生成移动机器人最优规划路径.该方法针对几种典型的障碍环境进行了仿真分析,结果表明该方法相比现有的方法能获得一条更安全且平滑的路径,验证了该方法的有效性.

A mobile robot path planning method based on artificial flow field,which combines the two-dimensional fluid motion process with the robot moving process,is proposed to solve the problem of path planning for mobile robot. The virtual flow field is established in the planning space of the robot,and then the velocity field distribution and the pressure field distribution of the virtual flow field are solved,and a set of streamlines is obtained. The optimal path of the mobile robot is generated according to the optimal path evaluation criterion. The method is used for simulation analysis of several typical obstacle environments. The results show that the method can obtain a safer and smoother path than the existing method. The validity of the method was verified.