改进人工势场法的室内移动机器人的局部规划研究

Research on Local Planning of Indoor Mobile Robot with Improved Artificial Potential Field Method

针对室内的复杂环境情况下,人工势场法在避障过程中移动机器人容易陷入局部最优导致停止或振荡和目标点无法到达问题,提出一种改进的人工势场法。改进斥力函数使得移动机器人更加安全可靠地达到目标点。进一步考虑到室内环境存在一定玻璃障碍物以及多障碍物情况会使得机器人在障碍物附近出现的反复震荡或停止不前现象,提出一种基于目标点与机器人的判断是否陷入局部最优的阈值因子,加入机器人安全半径,建立边界虚拟拉点的方法,解决局部最优问题,同时引入自适应逃脱步长因子,加快逃脱效率。通过实验结果证明,改进后的人工势场法可以克服目标不可达问题、局部极小值问题。

In view of the complex indoor environment,the artificial potential field method is easy to fall into the local optimal cause of stopping or oscillating and the target point can not reach the problem during obstacle avoidance.The improved repulsion function makes the mobile robot reach the target point more safely and reliably.Considering that there are some glass obstacles in the indoor environment and many obstacles will cause the robot to repeatedly oscillate or stop near the obstacles,a method is proposed to determine whether it falls into the local optimal threshold factor based on the target point and the robot,add the robot safety radius,and establish the boundary virtual pull point.To solve the local optimal problem,an adaptive escape step factor is introduced to accelerate the escape efficiency.Experimental results show that the improved artificial potential field method can overcome the problem of non-reachable target and local minimum.