模糊改进人工势场法移动机器人路径规划

Mobile Robot Path Planning Based on Fuzzy Improved Artificial Potential Field Method

针对人工势场法应用于机器人路径规划中存在的各种问题,提出一种模糊改进人工势场法。首先,建立斥力势场梯度等级,在解决目标不可达问题的同时,保证路径规划的安全性;其次,引入逃逸力,利用模糊算法推算出逃逸力大小,帮助移动机器人逃离局部最优陷阱;最后,在MATLAB环境下对常规改进人工势场法和模糊改进人工势场法进行了仿真实验,实验结果表明,模糊改进后的人工势场法能够解决目标不可达问题、局部最优问题,同时在避障安全性方面存在一定优势。

Aiming at various problems in the application of artificial potential field method to robot path planning,a fuzzy improved artificial potential field method is proposed.First,establish the repulsion potential gradient level to ensure the safety of path planning while solving the problem of unreachable targets;secondly,introduce escape forces and use fuzzy algorithms to calculate the escape forces to help mobile robots escape the local optimal trap;Finally,simulation experiments were carried out on the conventional improved artificial potential field method and the fuzzy improved artificial potential field method in the MATLAB environment.The experimental results show that the fuzzy improved artificial potential field method can solve the problem of unreachable target and local optimization,there are certain advantages in obstacle avoidance safety.