| 基于模糊人工势场的移动机器人路径规划 |
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| 引用本文： | 黄炳强,曹广益.基于模糊人工势场的移动机器人路径规划[J].上海理工大学学报,2006,28(4):347-350. |
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| 作者姓名： | 黄炳强 曹广益 |
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| 作者单位： | 上海交通大学,电子信息与电气工程学院,上海,200030 |
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| 摘 要： | 针对在传统的人工势场法中对机器人进行路径规划时,容易产生局部极小点问题,提出了一种模糊人工势场方法.对排斥力函数作了改进,引入了障碍物对机器人影响大小的斥力增益系数,通过构建的模糊系统,动态地调节斥力增益系数,从而有效地克服了局部极小点问题.仿真结果表明,该方法具有较强的环境适应能力,能够快速有效地规划出一条光滑的路径.
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| 关 键 词： | 模糊人工势场 避障 路径规划 |
| 文章编号： | 1007-6735（2006）04-0347-04 |
| 收稿时间： | 2005-09-16 |
| 修稿时间： | 2005年9月16日 |
Mobile robot path planning based on the fuzzy artificial potential field |
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| HUANG Bing-qiang,CAO Guang-yi.Mobile robot path planning based on the fuzzy artificial potential field[J].Journal of University of Shanghai For Science and Technology,2006,28(4):347-350. |
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| Authors: | HUANG Bing-qiang CAO Guang-yi |
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| Institution: | School of Electronic, Information and Electvical Engineering, Shanghai Jiaotong University, Shanghai 200030, China |
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| Abstract: | The local minimum occurs easily when the robot plans a path with the traditional artificial potential field method.A fuzzy artificial potential field method is presented and a repulsive gain factor K is introduced to the repulsive potential function,which indicates the importance of the obstacles around the robot.The repulsive gain factor K can be adjusted through the fuzzy system.The simulation result shows that the robot can overcome the local minimum effectively and plan a smooth path successfully. |
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| Keywords: | fuzzy artificial potential field obstacle avoidance path planning |
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