摘要
基于人工势场法原理建立了移动机器人避障模型,对人工势场法的“势场陷阱”问题进行了重点分析,对动态停止“势场陷阱”和徘徊抖动“势场陷阱”问题分别采用“随机扰动法”和“动态步长折半法”处理,并把它用到多移动机器人避碰规划中,仿真结果表明改进效果明显。
This paper makes a robot obstacle-avoidance model based on the artificial potential field(APF)principle,and also analyzes emphatically the questions of'The Trap of Potential Fields'.'The Random Disturbance Method'is adopted to deal with'The Dynamic Stop Trap'.'The Dynamic Step Length Changing Method'is adopted to deal with'The Wobbling Trap'.Simulation results indicate that the evolutionary method applied in multiple mobile robots environments is better.
出处
《计算机工程与应用》
CSCD
北大核心
2005年第17期56-58,共3页
Computer Engineering and Applications
基金
陕西省教育厅专项科研计划项目资助
关键词
人工势场法
势场陷阱
避碰
多移动机器人
APF,the trap of potential fields,obstacle-avoidance,multiple mobile robots
