摘要
人工势场法由于其算法的简洁性和有效性在实际问题中获得了应用,但其存在容易陷入局部极小值、在障碍附近震荡现象的缺点,如何解决这些问题是人工势场法研究的主要热点。论文将作为势场模型的Gaussian函数进行了适当变形,使其能更准确地反映势场环境。通过分析震荡现象产生的原因,以及局部极小值点的特点,将粒子群算法引入到势场的探测过程中,在此基础上提出了等位线法用于逃逸局部极小值。仿真结果表明本文方法能有效消除运动路径的震荡现象,极大地降低了陷入局部极小值的概率。
Artificial Potential Field method has been used in many practical purposes for its simplicity and validity. However, it has obvious shortcomings with the incidental trap in local minima and oscillations in the presence of obstacles or in narrow passages. How to avoid and solve these problems has been an active topic in the Artificial Potential Field research. A transformative Gaussian function with improving the expression of the potential environment was proposed. By analyzing the cause of oscillation and the character of the robot path in a local minimum, the PSO was integrated into the process of detecting the potential. Also a new method ELM was proposed to escape the local minima. Simulation results indicate the efficiency of the method in avoiding the oscillation and decreasing the probability of trapping in local minima.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2007年第19期4495-4498,4503,共5页
Journal of System Simulation
关键词
人工势场法
等位线法
粒子群算法
变形Gaussian函数
路径规划
artificial potential field（APF）
equipotential line method（ELM）
particle swarm optimization（PSO）
transformative Gaussian function
path planning
