| 基于人工势场法的移动机器人最优路径规划 |
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| 引用本文： | 张建英,刘暾.基于人工势场法的移动机器人最优路径规划[J].航空学报,2007,28(Z1). |
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| 作者姓名： | 张建英 刘暾 |
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| 作者单位： | 哈尔滨工业大学,航天学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 提出一种解决人工势场法目标不可达问题的方法.分析了传统人工势场法中的固有缺陷:目标不可达;在障碍物附近或通过狭小通道时的抖动问题.通过选取适当的增益系数解决了目标不可达问题,使机器人快速到达目标点.用拉紧法去除路径的冗余节点并用极坐标下对称多项式优化出圆滑的最优路径.仿真结果证实了所提方法的正确性和有效性.
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| 关 键 词： | 路径规划 目标不可达问题 对称多项式 |
Optimized Path Planning of Mobile Robot Based on Artificial Potential Field |
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| ZHANG Jian-ying,LIU Tun.Optimized Path Planning of Mobile Robot Based on Artificial Potential Field[J].Acta Aeronautica et Astronautica Sinica,2007,28(Z1). |
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| Authors: | ZHANG Jian-ying LIU Tun |
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| Abstract: | A method to solve the problem of goal nonreachable with obstacle nearby (GNRON) is proposed. The limitations of classical artificial potential field are GNRON and the chattering phenomenon when mobile robot moves near the obstacle or pass through the narrow space. The proper gain factor is selected to solve GNRON problem so as to make the robot reach the goal rapidly. The redundant points are eliminated using the tensing method and the smooth optimized path is gained using the symmetric polynomials in polar coordinates. The correctness and effectiveness are verified by the simulation. |
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| Keywords: | path planning GNRON symmetric polynomials |
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