水下多障碍区域机器人的路线规划模型优化设计

水下多障碍区域中障碍物数量较多,且具有随机性和实时性的特点,传统模型依据起始点、目标点及障碍物顶点等建立可视图,一旦障碍物发生变化则需重新构图,无法适应障碍物的随机性,规划的机器人运行路线臃长,提出一种基于改进人工势场法的水下多障碍区域机器人路线规划模型,通过引力场与斥力场的负梯度描述引力和斥力,获取人工势场对机器人的作用力,建立人工势场模型。通过对人工势场斥力函数的优化设计,解决机器人障碍物附近目标不可达的问题;通过障碍物连接法解决人工势场模型的局部最小值问题,使机器人尽快走出局部最小值区域。实验结果表明,所提模型不仅能够有效避开障碍物,而且规划路径较短,效率高。

Many obstacles area underwater robot route planning model of optimization design

Underwater obstacle areas more obstacles in number, and has the characteristics of randomness and real time, the traditional model based on the starting point, target and obstacle vertex set up can view, once the barrier to change is to recompose, unable to adapt to the obstacles of randomness, wife long running route planning of the robot, puts forward an improved artificial potential field method based on underwater obstacle areas more robot route planning model, through describing the gravitational field and the repulsive force field of negative gradient of gravity and repulsion, artificial potential field on robot force, is the artificial potential field model. Based on the artificial potential field for the optimization design of the repulsive force function, solve the problem of robot obstacle near the target inaccessible; Through obstacles connection method of solving the problem of local minimum of artificial potential field model, make robots out of local minimum area as soon as possible. The experimental results show that the proposed model not only can effectively avoid obstacles, and the planning path is shorter, high efficiency.