基于改进势场法的可变形机器人路径规划研究

采用传统的势场法对机器人进行路径规划时,如果目标位置处在障碍物产生的斥力影响范围内,由于斥力大于引力机器人很难到达目标,为此本文提出了一种改进的势场法。该算法通过机器人向着合势能最小的方向运动完成路径规划。并对目标产生的引力做了进一步的改进,解决了目标不可达问题。同时改进的方法不会增加计算量,保证了算法的实时性。仿真实验证明了机器人能够避开障碍顺利到达目标,验证了改进算法的有效性。

Using the traditional potential field method for robot path planning,the robot is very difficult to arrive the goal if the goal location is near with obstacles,because the repulsive force is bigger than the attractive force. So a modified potential field is proposed.This algorithm completes the path planning through moving toward the direction of the smallest potential energy.The attractive force of goal has been further improved to solve the problem that the goal can not been reached.The modified method ca...