关于移动机器人动态路径目标规划研究

Research on Dynamic Path Target Planning of Mobile Robot

针对移动机器人采用传统人工势场法路径规划时存在的机器人与障碍物发生碰撞和局部极小点问题,提出了一种改进的人工势场法。首先采用一种接近即为碰撞的预测碰撞策略,并且通过添加额外力来解决移动机器人在特殊情况下可能与障碍物相撞的问题;然后通过在不同情况下引入原地等待,改变引力影响因子或斥力影响因子以及添加助逃力的方法帮助机器人避开局部极小点。在MATLAB仿真平台上,对改进前后的人工势场算法路径规划进行了仿真,并进行相应比较,比较结果显示改进后的人工势场法能够成功的解决以上存在的两个问题。仿真证明了改进后的人工势场法的有效性。

In view of the problem of the collision of mobile robot with obstacles and local minima in the path planning of mobile robot based on traditional artificial potential field, an improved artificial potential field method is proposed. First, the problem of the collision of mobile robot with obstacles in special circumstances was solved by adopting a collision prediction strategy and adding additional force. Then, by introducing waiting, changing the gravitational influence factor or repulsive force influence factor and adding the escape force in different conditions, the robot can avoid the local minimum. On the MATLAB simulation platform, the path planning of the traditional artificial potential field algorithm and the improved artificial potential field algorithm were simulated, and the comparative results show that the improved artificial potential field algorithm can solve the above problems successfully. The simulation results show the effectiveness of the improved artificial potential field algorithm.