摘要
在保留传统人工势场法原理简单、易于实现优点的基础上,对其应用在具有移动障碍物的动态环境中所表现出的缺陷进行了改进,用碰撞时间参数代替相对位置参数并辅以碰撞角度约束来消除无谓的避碰运动,同时又引入障碍物作用于机器人、方向指向目标点的分力和局部波动函数,较好地解决了因局部最小以及障碍物与目标点相距太近造成的不能成功到达目标点的问题.仿真结果表明此方法能够使机器人在具有静态和移动障碍物的复杂环境中安全避障.
A novel and effective obstacle avoidance method is developed to overcome the drawbacks of artificial potential field avoidance obstacle in dynamic environments. A collision time parameter was substituted for the relative position one and meaningless collision motions were obviously removed by an introduced collision angle as a restriction. The repulsive component force, which was directed to the target, exerted on the robot by obstacles and a local fluctuant function were introduced for the ro- bot＇s achieving its target correctly. The ＇simulation results show that the robots can avoid their obstacles safely in dynamic environments or complex ones with moving obstacles by using the proposed method.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2006年第9期39-41,56,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(50275078)
关键词
移动机器人
动态障碍物
人工势场法
仿真
mobile robot
moving obstacle
artificial potential field method
simulation
