基于改进人工势场法的服务机器人路径规划

人工势场法是服务机器人路径规划算法中一种简单有效的方法.针对传统人工势场法存在的目标不可达问题,通过在原来的斥力函数中加入一个调节因子的方法解决,同时采用遍历搜索法解决局部极小值问题,并引入安全距离以及改进调节因子以提高机器人路径规划过程中的安全性能.最后,利用Matlab软件将改进后的人工势场法应用于服务机器人路径规划并进行了仿真实验.仿真结果表明,基于改进人工势场法的服务机器人路径规划有效地解决了机器人不能到达目标点的问题.

Path Planning of Service Robot Based on Modified Artificial Potential Field Method

The artificial potential field method is a simple and effective method for the path planning algorithm of the service robot. A regulation factor was joined in the original repulsion function to resolve the presence of target accessibility issues of the traditional artificial potential field method, and the traversal search method was adopted to solve the local minimum value problem, and then the safe distance and improvement of the adjustment factor were introduced to improve the safety performance in robot path planning process. The improved artificial potential field method is applied to the path planning of the service robot, and the simulation experiment is carried out by using the Matlab software. The simulation results show that the path planning of the service robot based on the improved artificial potential field method can effectively solve the local minimum problem