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一种基于速度势场的局部在线避碰方法 被引量：2

ONE OBSTACLES AVOIDANCE METHOD BY VELOCITY POTENTIAL FIELD
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摘要 本文以势场方法的思想为出发点,提出一种基于速度势场的自主移动机器人的局部避碰方法.该方法可以更好地利用相对速度的信息,在存在移动障碍物和环境中得到较好的局部在线避碰效果. This paper describes an on Line Obstacle avoidance approach followed the idea of potential field. By build velocity potential field the method uses relative velocity information. It provides the mobile robot with a more efficient motion in a dynamic world with moving obstacles.
作者 高升 董洪斌
机构地区 湛江海洋大学 哈尔滨师范大学
出处 《哈尔滨师范大学自然科学学报》 CAS 2003年第1期42-45,共4页 Natural Science Journal of Harbin Normal University
关键词 速度势场 局部在线避碰方法 自主移动机器人 运动障碍 相对速度 避碰规划 Mobile robots Local obstacle avoidance Potential field Moving obstacle
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献11

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同被引文献22

  • 1景兴建,王越超,谈大龙.人工协调场及其在动态不确定环境下机器人运动规划中的应用[J].中国科学（E辑）,2004,34(9):1021-1036. 被引量：11
  • 2张汝波,张国印,顾国昌.基于势场法的水下机器人局部路径规划研究[J].应用科技,1994,21(4):28-34. 被引量：4
  • 3黄炳强,曹广益.基于人工势场法的移动机器人路径规划研究[J].计算机工程与应用,2006,42(27):26-28. 被引量：38
  • 4Stuart Russell,Peter Norvig.Artificial Intelligence:A Modern Approach[M].Prentice Hall,2003
  • 5Khatib O.Real-time obstacle avoidance for manipulators and mobile robots[J].The International Journal of Robotics Research,1986; 5 (1):90～98
  • 6Olive M.Khepera Simulator Package(version 2.0).Freeware mobile robot simulator download from the WWW at:http://diwww.epfl.ch/lami/team/michel/khep-sim/,1996
  • 7Paradeep Khosla,Richard Volpe.Super quaddc artificial potential for obstacle avoidance and approach[C].In:IEEE Conf on Robotics and Automation,Philadelphia,PA,1988:1778～1784
  • 8N Ahuja.Path planning using the Newtonian potential[C].In:IEEE Conf on Robotics and Automation,New York,1991;(1):558～563
  • 9Jin-Oh Kim,P K Khosla.Real-time obstacle avoidance using harmonic potential functions[J].IEEE Trans on Robotics and Automation,1992; 8 (3):338～349
  • 10Min Gyu Park,Jae Hyun Jeon,Min Cheol Lee.Obstacle avoidance for mobile robots using artificial potential field approach with simulated annealing[C].In:IEEE International Symposium on Industrial Electronics,Pusan,Korea,2001; (3):1530～1535

引证文献2

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哈尔滨师范大学自然科学学报
2003年 第1期

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