| 基于改进人工势场法的移动机器人路径规划 |
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| 引用本文： | 邓永娣,吴丽娟,王镇东. 基于改进人工势场法的移动机器人路径规划[J]. 鞍山科技大学学报, 2010, 0(5) |
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| 作者姓名： | 邓永娣 吴丽娟 王镇东 |
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| 作者单位： | 辽宁科技大学电子与信息工程学院; |
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| 摘 要： | 为解决传统人工势场法存在局部极小值问题而导致路径规划失败问题,提出了基于改进人工势场的角度偏移法,使机器人迅速逃离局部极小值点,成功规划出一条平滑无碰撞路径。仿真实验证明了该方法规划的有效性。
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| 关 键 词： | 机器人 路径规划 人工势场法 角度偏移 |
Mobile robot path planning with artificial potential field |
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| DENG Yong-di,WU Li-juan,WANG Zhen-dong. Mobile robot path planning with artificial potential field[J]. Journal of Anshan University of Science and Technology, 2010, 0(5) |
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| Authors: | DENG Yong-di WU Li-juan WANG Zhen-dong |
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| Affiliation: | DENG Yong-di,WU Li-juan,WANG Zhen-dong(School of Electronics and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China) |
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| Abstract: | Because there exists local minimum problem in traditional artificial potential field resulting in path planning failure.A new method of angular deflection is proposed,and the robots can quickly escape from local minimum points and are successfully planning a smooth path without collision.The simulation results prove the effectiveness of this method. |
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| Keywords: | robot path planning artificial potential field angular deflection |
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