基于改进人工势场法的移动机器入路径规划

在移动机器人路径规划任务中，针对传统人工势场法中存在的目标不可达问题，提出了一种新的斥力改进函数的设计方法。在原来的斥力函数中加入一个调节因子，并对障碍物的作用范围采用人为分段的方式，有效解决了目标不可达问题，使机器人能够顺利到达目标点。将改进后的人工势场法应用于移动机器人路径规划，并利用M atlab软件进行了仿真实验。实验结果表明，基于改进人工势场法的移动机器人路径规划算法简单、有效。

Path planning of mobile robot based on modified artificial potential field method

A novel modified repulsion function method of artificial potential field algorithm has been proposed for mobile robot path planning .A weighted factor was added to the repulsion func-tion ,and the obstacles effective scope was divided into different range according to their distance to the robot ,then the problem of the target inaccessible was resolved and the robot could reach the target smoothly .The modified algorithm was applied to the path planning of mobile robot , and the Matlab software was used to simulate the method .Simulation results showed that the method was simple and effective .