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人工势场法是服务机器人路径规划算法中一种简单有效的方法。针对传统人工势场法存在的目标不可达问题,通过在原来的斥力函数中加入一个调节因子的方法解决,同时采用遍历搜索法解决局部极小值问题,并引入安全距离以及改进调节因子以提高机器人路径规划过程中的安全性能。最后,利用Matlab软件将改进后的人工势场法应用于服务机器人路径规划并进行了仿真实验。仿真结果表明,基于改进人工势场法的服务机器人路径规划有效地解决了机器人不能到达目标点的问题。
Artificial potential field method is a simple and effective method in serving robot path planning algorithm. Aiming at the problem of unreachable target in the traditional artificial potential field method, this method is solved by adding a regulation factor to the original repulsion function. At the same time, traversal search method is used to solve the problem of local minimum and the safety distance is introduced to improve the adjustment factor Safety Performance in Robot Path Planning. Finally, the improved artificial potential field method is applied to the path planning of service robot with Matlab software and the simulation experiment is carried out. The simulation results show that the service robot path planning based on the improved artificial potential field method can effectively solve the problem that the robot can not reach the target point.