[1]倪天伟,江红,林金珠.基于改进人工势场法的移动机器人避障路径规划算法[J].常州大学学报(自然科学版),2016,(05):74-77.[doi:10.3969/j.issn.2095-0411.2016.05.013]
　NI Tianwei,JIANG Hong,LIN Jinzhu.An Anti-Collision Path Planning Algorithm Based on Improved Artificial Potential Field Method for Mobile Robot[J].Journal of Changzhou University(Natural Science Edition),2016,(05):74-77.[doi:10.3969/j.issn.2095-0411.2016.05.013]
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基于改进人工势场法的移动机器人避障路径规划算法()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
期数:
2016年05期
页码:
74-77
栏目:
计算机与信息工程
出版日期:
2016-09-30

文章信息/Info

Title:
An Anti-Collision Path Planning Algorithm Based on Improved Artificial Potential Field Method for Mobile Robot
作者:
倪天伟1; 江红2; 林金珠1
1.河海大学 文天学院,安徽 马鞍山 243031; 2.河海大学 计算机与信息学院,江苏 南京 210098
Author(s):
NI Tianwei1;  JIANG Hong2;  LIN Jinzhu1
1.Wentian College, Hohai University,Maanshan 243031, China; 2.School of Computer and Information,Hohai University,Nanjing 210098, China
关键词:
移动机器人;  避障路径规划;  人工势场法;  局部极小点
Keywords:
mobile robot;  anti-collision path planning;  artificial potential field method;  local minimum
分类号:
TP 18
DOI:
10.3969/j.issn.2095-0411.2016.05.013
文献标志码:
A
摘要:
路径规划是移动机器人系统的重要组成部分,及时有效的避开障碍物到达目标点是路径规划中非常重要的一个研究方向。在研究移动机器人避障控制特点的同时,把改进的人工势场法引入到移动机器人的避障路径规划中来,有效缓解传统人工势场法在路径规划中可能陷入的局部极小点问题。经仿真实验和实践,证明了该算法的可行性和有效性。
Abstract:
Path planning is an important part of the mobile robot system, and it is very important to avoid obstacles to reach the goal point in time. In this paper, an improved artificial potential field algorithm is proposed to plan the anti-collision path, which is based on the study of the control characteristics for mobile robots. It can effectively alleviate the local minimum problem of the traditional artificial potential field method in path planning. The result of simulation and application proves the feasibility and effectiveness of this algorithm.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2016-03-18。基金项目:河海大学文天学院校级科研项目(WT15001)。作者简介:倪天伟(1981—),男,河南信阳人,硕士,讲师,主要从事计算机软件与理论、人工智能研究。
更新日期/Last Update: 2016-10-10