摘要
针对当前智能机器人应用中传统人工势场法路径规划存在的问题,对传统人工势场法进行改进,同时引入A~*算法进行全局路径优化。具体则是在传统人工势场法中,对斥力函数进行改进,同时建立虚拟目标牵引点,以改进局部极小值和目标不可达的问题;在全局路径规划方面,引入A~*算法,通过改进A~*算法中的估计函数,以解决启发函数信息太弱或太强的问题。最后在Mat-lab2012b对上述混合算法进行编程,得到不同方法下的仿真结果。结果表明,本文构建的改机算法可有效到达终点,并且曲线光滑、平稳。
Aiming at the problems existing in the path planning of traditional artificial potential field method in the current application of intelligent robots,the A~*algorithm is introduced to optimize the global path while improving the traditional artificial potential field method.Specifically,in the traditional artificial potential field method,the repulsion function is improved,and the virtual target traction point is established to improve the local minimum and target unreachability.In the aspect of global path planning,the A~*algorithm is introduced to solve the problem that the information of heuristic function is too weak or too strong by improving the estimation function of A~*algorithm.Finally,the hybrid algorithm is programmed in Matlab 2012 b,and the simulation results under different methods are obtained.The results show that the improved algorithm constructed in this paper can reach the end point effectively,and the curve is smooth and stable.
作者
张益辉
王长宁
孙玲
ZHANG Yihui;WANG Changning;SUN Ling(State Grid,Hebei Shijiazhuang Electirc Power Company,Shijiazhuang 050051)
出处
《微型电脑应用》
2020年第2期120-123,共4页
Microcomputer Applications
关键词
A^*算法
人工势场法
路径规划
避障
仿真实验
A^*algorithm
Artificial potential field method
Path planning
Obstacle avoidance
Simulation experiment
