摘要
针对传统人工势场法应用于移动机器人避障路径规划存在的缺陷,建立了改进的人工势场模型,通过在障碍物的斥力势场函数中增加最小安全距离,同时考虑机器人与目标点的相对距离,成功地解决了障碍物附近目标不可达(Good Nonreachable with Obstacles Nearby GNRON)的问题。此外,针对传统人工势场法的局部极小点和障碍物附近目标不可达同时存在的问题,提出了以改进人工势场法为主,栅格法为辅的方案来实施避障,使得机器人能够尽快地脱离局部极小并成功地绕过障碍物到达目标点。采用栅格法对改进人工势场法做辅助决策,弥补了改进人工势场法的不足,使机器人能够顺利到达势场的全局最小点,提高了避障路径规划的安全性和可达性。论文利用Matlab进行了算法仿真,结果证明了所提方法的正确性和有效性。
To overcome the shortcomings of the traditional artificial potential field method in obstacle avoidance path planning of mobile robots, an improved artificial potential field method is proposed ~ By addition of a minimum safety distance and the distance between ro- bot and target to repulsion potential field of obstacles, the Goal nonreachable with obstacles nearby （GNRON） problem has been suc- cessfully solved. Furthermore, in order to solve the simultaneous problems of local minimum point and Goal Nonreachable with Obsta- cles Nearby of traditional artificial potential field, a new approach based on artificial potential field and grid is proposed, which can be used for the obstacle avoidance of robots. The potential grid method allows the robots to be able quickly to escape from the local mini- mum point and successfully around the obstacles to reach the target point. By using Grid method to make the auxiliary decision, the dis- advantages of improved artificial potential field are remedied, The validity and effectiveness of this method is verified by simulation re- sults.
出处
《控制工程》
CSCD
北大核心
2014年第1期134-137,共4页
Control Engineering of China
基金
辽宁科技大学科研专项基金(2011ZX06)
关键词
势场栅格法
人工势场法
机器人避障
GNRON
potential grid method
artificial potential field
obstacle avoidance of robot
GNRON
