机构地区: 湘潭大学信息工程学院
出 处: 《微计算机信息》 2009年第29期188-190,共3页
摘 要: 人工势场法因反应速度快、计算量小和实时性等优点,在移动机器人路径规划中获得广泛的应用。本文分析了传统的人工势场法由于局部最小问题而导致规划失败的原因,对可能产生局部极小值区域的障碍物外部几何形状进行分析。提出了增加引导点与增量项的方法,使得机器人能够快速走出极值点,向目标点移动。文中利用改进的人工势场法进行仿真实验成功地规划出在复杂环境下光滑路径,证实了该方法的有效性。 Artificial potential field methods has been widely used in path planning of mobile robots for reaction quickly, a small amount calculation and real-time. Analysis of the traditional artificial potential field failed in path planning due to the local minimum and the possible local minimum area of the external obstacles on the geometry. Proposed a method of adding guiding point and in- crement way of making the robot can quickly escape from it and move to the target. The simulation successfully in the complex environment proves the efficient of this method.
领 域: [自动化与计算机技术] [自动化与计算机技术]