基于改进人工势场法的移动机器人避障研究

Research on Obstacle Avoidance of Mobile Robot Based on Improved Artificial Potential Field Method

为解决移动机器人在静态与动态环境中的自主避障问题,在分析经典人工势场法不足的基础上,通过改进斥力势场函数以及调整引力在坐标轴上的分量,分别解决其在避障过程中存在的目标不可达以及局部极小值问题。同时考虑障碍物运动速度对移动机器人避障的影响,将两者之间的相对速度加入势场函数,使移动机器人能够在动态环境中进行自主运动。最后通过MATLAB平台进行仿真实验,结果表明,移动机器人能够避开静态和动态环境中的障碍物,抵达目标位置,验证了改进算法的可行性。

In order to solve the problem of autonomous obstacle avoidance of mobile robots in static and dynamic environments,on the basis of analyzing the deficiencies of the classic artificial potential field method,by improving the repulsive potential field function and adjusting the gravitational component on the coordinate axis,the problems of target unreachable and local minimum in the obstacle avoidance process are solved respectively.At the same time,considering the impact of the speed of obstacles on the obstacle avoidance of the mobile robot,the relative speed between the two is added to the potential field function,so that the mobile robot can autonomously avoid obstacles in a dynamic environment.Finally,a simulation experiment is conducted on the MATLAB platform.The experimental results show that the mobile robot can avoid obstacles in static and dynamic environments and reach the target position,which verifies the feasibility of the improved algorithm.