In order to overcome the inherent oscillation problem of potential field methods(PFMs) for autonomous mobile robots in the presence of obstacles and in narrow passages,an enhanced potential field method that integrate...In order to overcome the inherent oscillation problem of potential field methods(PFMs) for autonomous mobile robots in the presence of obstacles and in narrow passages,an enhanced potential field method that integrates Levenberg-Marquardt(L-M) algorithm and k-trajectory algorithm into the basic PFMs is proposed and simulated.At first,the mobile robot navigation function based on the basic PFMs is established by choosing Gaussian model.Then,the oscillation problem of the navigation function is investigated when a mobile robot nears obstacles and passes through a long and narrow passage,which can cause large computation cost and system instability.At last,the L-M algorithm is adopted to modify the search direction of the navigation function for alleviating the oscillation,while the k-trajectory algorithm is applied to further smooth trajectories.By a series of comparative experiments,the use of the L-M algorithm and k-trajectory algorithm can greatly improve the system performance with the advantages of reducing task completion time and achieving smooth trajectories.展开更多
基金Supported by the National Key Basic Research Program of China(973 Project)(No.2013CB035503)
文摘In order to overcome the inherent oscillation problem of potential field methods(PFMs) for autonomous mobile robots in the presence of obstacles and in narrow passages,an enhanced potential field method that integrates Levenberg-Marquardt(L-M) algorithm and k-trajectory algorithm into the basic PFMs is proposed and simulated.At first,the mobile robot navigation function based on the basic PFMs is established by choosing Gaussian model.Then,the oscillation problem of the navigation function is investigated when a mobile robot nears obstacles and passes through a long and narrow passage,which can cause large computation cost and system instability.At last,the L-M algorithm is adopted to modify the search direction of the navigation function for alleviating the oscillation,while the k-trajectory algorithm is applied to further smooth trajectories.By a series of comparative experiments,the use of the L-M algorithm and k-trajectory algorithm can greatly improve the system performance with the advantages of reducing task completion time and achieving smooth trajectories.
