作　　者： ; ; ; ; ;

机构地区： 北京科技大学

出　　处： 《北京科技大学学报》 2012年第2期202-206,共5页

摘　　要： 人工势场法是一种简单有效的移动机器人路径规划算法.针对传统人工势场法在路径规划中的一类目标点不可达问题,提出了一种在局部最小点改变斥力角度和设定虚拟最小局部区域的解决方案,同时采用遗传算法对改进算法中斥力改变角度以及虚拟最小局部区域的半径两个参数进行优化.仿真实验说明本文所提算法能在起点和终点之间规划出一条简捷、光滑和安全的路径. The artificial potential field method is a simple and efficient path planning algorithm for mobile robots.Aiming at a kind of goal unreachable problem in traditional artificial potential field methods,an improved algorithm which changes the angle of repulsion at the local minimum point and sets the virtual local minimum area was proposed for problem-solving.The genetic algorithm was also introduced to optimize the parameters,i.e.the revolved angle of repulsion and the radius of the virtual local minimum area for the improved artificial potential field algorithm.It is proved that the proposed algorithm can plan out a simple,smooth and safe optimum path connecting the start point and the end point by simulation experiments.

关 键 词： 路径规划 移动机器人 人工势场法 遗传算法

领　　域： [自动化与计算机技术] [自动化与计算机技术]