基于势场法的路径规划算法特性分析和路径优化

Characteristics Analysis of Algorithm and Methods of Optimizing Path Based on Artificial Potential Field Method

分析了各人工势场算法,对路径中的特征点——“奇点”进行了论述。综合人工势场算法在安全性、平顺性和能耗等方面的特性,提出了一种用于评估算法的代价函数。并结合机器人的运动特性,提出了规划路径的优化算法,使机器人能安全、准确地,以最优的能耗到达目标点,对人工势场法在实际中的应用具有重要意义。

Artificial potential field is widely applied in obstacle avoidance technology of robots,artificial potential field algorithms were analyzed,the special points in the path-“singularity”was discussed.A new cost function for evaluating the algorithm was proposed which is adapted to the demand of security,smoothness and energy consumption of each algorithm.Meanwhile,optimized algorithm of the path was designed to make sure the robot can reach the target safely and accurately with optimal energy consumption,all these are significant to the application of the artificial potential field method.