基于改进人工势场法的井下救援机器人的路径规划研究

Research on Path Planning of Downhole Rescue Robot Based on Improved Artificial Potential Field Method

为使井下救援机器人能在路径相对最优的情况下快速到达目标点,基于传统人工势场法,通过改进斥力场函数,对机器人所受斥力进行分阶段处理并在局部极小值点时增加附加力;提出基于改进人工势场法的井下救援机器人的路径规划算法;利用MATLAB基于模型预测控制的路径跟踪仿真平台,对改进模型进行了验证.仿真结果表明,改进的路径规划算法安全有效地实现了井下救援机器人的局部路径规划.

In order to enable downhole rescue robot to reach the target point quickly under the condition of relatively optimal path,an improved artificial potential field method algorithm is proposed in this paper.Based on the traditional artificial potential field method,the algorithm makes three improvements:improving the repulsive field function,processing the repulsion field function in stages,and adding the force on downhole rescue robot at the local minimum point.The improved model is verified by using MATLAB path tracking simulation platform based on model predictive control.Simulation results show that the improved path planning algorithm effectively realizes the local path planning of downhole rescue robot.