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由于传统人工势场法存在目标不可达和局部极小值点问题,在有多个障碍物的环境下非常容易导致无法路径规划。对人工势场法的特点进行了分析,提出了采用激光传感器测距模型和Wi-Fi定位算法构建路径规划的环境;对于障碍物与目标点过于接近而引起的斥力势场和引力势场同时增大继而出现的目标不可达问题,采用在斥力势场函数中增加一个距离因子的方法来使机器人能准确找到目标点;当障碍物处在机器人与目标点之间时,机器人很容易陷入局部极小值点的情况,采用旋转斥力一定角度的方法使机器人逃离极小值点,绕开障碍物而迅速向目标点移动。仿真实验证明了该方法能够成功规划出一条平滑无碰撞的路径。
Due to the problems of target artificial reach and local minimum point in the traditional artificial potential field method, it is very easy to lead to the path planning in the environment with multiple obstacles. The characteristics of the artificial potential field method are analyzed, and the environment of path planning is proposed by using the laser sensor ranging model and the Wi-Fi positioning algorithm. For the repulsive potential field and the gravitational potential field caused by the obstacle and the target point being too close Increase the following problem of unreachable target, and adopt a method of adding a distance factor in the repulsive force field function to enable the robot to find the target point accurately; when the obstacle is between the robot and the target point, the robot can easily fall into the local In the case of the minimum point, the robot rotates away from the obstacle and quickly moves to the target point by adopting the method of rotating the repulsion at a certain angle. Simulation results show that this method can successfully plan a smooth and collision-free path.