基于势场法的移动机器人路径规划仿真研究

针对势场法的障碍物附近目标不可达(GNRON)问题,采用改进斥力势场函数,把机器人和目标的相对距离考虑进去,从而确保目标点为整个势场的全局最小点,使得机器人能够顺利到达目标。针对局部极小引起的陷阱区域问题,提出了增加引导点的方法,使得机器人能够快速走出陷阱区域,向目标点移动。通过仿真实验,还实现了机器人在限定区域内漫游。改进后的势场法适用于复杂环境下的移动机器人路径规划。仿真结果证明了此方法的有效性。

This paper adopts improved repulsive potential function for Goals Nonreachable with Obstacles Nearby(GNRON) of potential field,the new repulsive potential function considers the relative distance between the robot and the goal which ensures the goal is the global minimum of the whole potential field,so the robot can reach the goal freely.This paper also proposes a method of adding guiding point for trap situations due to local minima,so the robot can get out the trap situations quickly and move to the goal.Robot rambling in restrictive region is also realized in simulation.The improved algorithm is adaptable to path planning of robots in complex environment.The effectiveness of this method is verified by simulation results.

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