复杂环境下基于势场原理的路径规划方法

A Path Planning Algorithm Based on Potential Field for Complex Enviroment

针对势场原理所固有的几个缺陷 :在相近障碍物间不能发现路径 ;在狭窄通道中摆动 ;在障碍物前振荡 ;存在陷阱区域 ;当目标附近有障碍物时无法达到目标点 ,提出了改进办法 .改进后的势场法适用于未知复杂环境下移动机器人的路径规划 ,并具备一定的学习能力 .仿真实验验证了该方法的有效性 .

For the innate limitations of the principle of potential field,such as no path existing among the close-spaced obstacles,oscillations in narrow passages,oscillations in the presence of obstacles,trap situations due to local minima,unreachable goals near the obstacles,etc.,this paper proposes an improved algorithm,which is adaptable to path planning of robots in the unknown complex environment and has a certain degree of learning ability. The effectiveness of this method is verified by simulation results.