| 基于混沌人工势场法的机器人路径规划 |
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| 引用本文： | 杨斌.基于混沌人工势场法的机器人路径规划[J].科学技术与工程,2011,11(21). |
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| 作者姓名： | 杨斌 |
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| 作者单位： | 昆明理工大学机电工程学院,昆明,650093 |
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| 摘 要： | 本文以人工势场法为基础，提出了一种基于混沌人工势场法的机器人路径规划方法，该方法解决了传统人工势场法存在局部最优点问题、在相近障碍物间不能发现路径、在障碍物前震荡、在狭窄通道中摆动等缺陷。仿真试验表明，该方法能有效的实现机器人路径规划。
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| 关 键 词： | 混沌 人工势场法 路径规划 |
| 收稿时间： | 2011/4/11 0:00:00 |
| 修稿时间： | 5/9/2011 3:29:06 PM |
Path Planning for Robot Based on Chaotic Artificial Potential Field Method |
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| yangbin.Path Planning for Robot Based on Chaotic Artificial Potential Field Method[J].Science Technology and Engineering,2011,11(21). |
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| Authors: | yangbin |
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| Institution: | YANG Bin,WANG Ting-you,WEI Jing-tao,CAI Xiao-ming (Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650093,P.R.China) |
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| Abstract: | Based on the basis of artificial potential field method, this paper presents a robot path planning based on chaotic artificial potential field method. This method solves problem of existing local optimal solution in the method of traditional artificial potential field method, finding no path between close obstacles, shaking before obstacles and swinging in the narrow channel. The simulation results show that this method can effectively achieve robot path planning. |
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| Keywords: | chaos artificial potential field method path planning |
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