学术论文

      基于动态模糊人工势场法的移动机器人路径规划

      Mobile robot path planning based on dynamic fuzzy artificial potential field method

      摘要:
      传统人工势场法在路径规划中存在局部极小值问题,而且不能满足动态环境中移动机器人路径规划对实时性、安全性和可达性的要求.针对传统人工势场法存在的问题,通过引入速度矢量,改势场力函数,并与模糊控制方法相结合,实时调节斥力势场系数,克服人工势场法的缺陷.在MATLAB平台中验证了方法的有效性,实验结果表明,该方法优于人工势场法模型的路径规划.
      Abstract:
      Traditional Artificial potential field method has the problem of local minimum and can not satisfy real-time mobile robot path planning, security and accessibility requirements in dynamic environment. To deal with the problems, through taking the advantage of velocity vector, modifying potential field force function, and integrating with the fuzzy control method, adjusting the factors of repulsion potential field in real time, a new method is proposed in order to overcome the shortcomings of artificial potential field method. To validate the proposed method, simulation experiments are conducted in MATLAB platform, and experimental results demonstrate that the performance of this proposed method is better than the traditional artificial potential field model.
      作者单位: 北京工商大学计算机与信息工程学院,北京,100048
      刊 名: 计算机工程与设计 PKU
      年,卷(期): 2010, 31(7)
      分类号: TP242
      机标分类号: TP2 TP1
      在线出版日期: 2010年6月2日
      基金项目: 国家十一五攻关重大支撑基金,北京市委组织部优秀人才基金