摘要
针对传统人工势场法(artificial potential field,APF)容易陷入局部最小解的问题,提出一种基于模拟退火算法的改进人工势场法:引入模拟退火求解全局最优的思想到人工势场路径规划中,当路径规划陷入局部最小解时,自动触发模拟退火策略,直到跳出局部最小点,最终规划出一条从起始位置到目标位置的有效路径。通过改进扰动模型和退火计划来提高退火过程的效率,在二维和三维仿真环境中开展了多次实验,结果表明,改进算法能有效解决传统人工势场法的局部最小解问题,并且得到的路径更短。
Aiming at the problem that the traditional artificial potential field method(APF)is easy to fall into the local minimum solution,an improved artificial potential field method based on simulated annealing algorithm is proposed:the idea of solving the global optimization by simulated annealing is applied to the path planning of artificial potential field.When the path planning falls into the local minimum solution,the simulated annealing strategy is automatically triggered,Move randomly from the current position until it jumps out of the local minimum point,and finally plan an effective path from the starting position to the target position.The experimental results show that the improved algorithm can effectively solve the problem in two-dimensional and threedimensional environment.
作者
何世琼
陈雨
He Shiqiong;Chen Yu(School of electronic information,Sichuan University,Chengdu 610065)
出处
《现代计算机》
2022年第15期17-23,共7页
Modern Computer
关键词
机械臂
人工势场
路径规划
模拟退火
mechanical arm
artificial potential field
path planning
simulated annealing
