基于改进人工势场法的移动机器人局部路径规划

Local path planning of mobile robot based on improved artificial potential field method

为解决传统人工势场法在移动机器人局部路径规划中存在的缺陷,提高其路径规划的性能,提出了改进的人工势场法。将引力作用阈值引入引力势场函数,解决引力过大问题;在斥力势场函数中引入目标点与移动机器人之间的距离,解决目标不可达问题;根据环境复杂度,提出了自适应速度调节机制;针对局部极小值问题,分别提出了APF-v1和APF-v2两种构建虚拟目标点的方法,引导移动机器人走出陷阱区域。最后在ROS机器人操作系统中对改进的算法进行了对比实验,结果表明,改进的算法可以克服目标不可达、局部极小值等问题,并且在计算量、路径规划时间和步数等方面具有一定的优越性。

An improved artificial potential field method is proposed to solve the defects of traditional method in the local path planning of mobile robot and to improve its path planning performance.The threshold of gravitational action is introduced into the gravitational potential field function to settle the trouble of excessive gravity.The distance between the target point and the mobile robot is introduced into the repulsive potential field function to tackle the problem of target inaccessibility.An adaptive speed adjustment mechanism is adopted according to the complexity of environment.For the local minimum problem,APF-v1 and APF-v2 methods of constructing virtual target points are proposed to guide the mobile robot out of the trap area.Finally,the comparative experiments are carried out under the ROS(robot operating system)environment.The results show that the improved algorithms can overcome the problems of target inaccessibility and local minimum,and have certain advantages in terms of calculation amount,path planning time and number of steps.