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人工势场法是一种简单有效的移动机器人路径规划算法.针对传统人工势场法在路径规划中的一类目标点不可达问题,提出了一种在局部最小点改变斥力角度和设定虚拟最小局部区域的解决方案,同时采用遗传算法对改进算法中斥力改变角度以及虚拟最小局部区域的半径两个参数进行优化.仿真实验说明本文所提算法能在起点和终点之间规划出一条简捷、光滑和安全的路径.
Artificial potential field method is a simple and effective path planning algorithm for mobile robots.Aiming at the problem of a class of target point unreachable in the path planning of the traditional artificial potential field method, a method is proposed to change the repulsion angle and set the virtual The minimum local region and the genetic algorithm to optimize the algorithm to change the angle of repulsion and the minimum radius of the virtual local area optimization of two parameters.A simulation experiment shows that the proposed algorithm can be planned between the start and end of a simple, Smooth and safe path.