摘要
分析了人工势场模型存在的两个问题:目标不可到达问题和由于局部最优解的存在而产生的死锁问题。在人工势场路径规划的基础上,提出了基于免疫算法和人工势场法的最优路径规划方法。通过仿真算例验证了该模型的有效性。
The problems of goals nonreachable with obstacles nearby （GNRON） and dead lock caused by local minimum were described when using artificial potential field methods for mobile robot path planning. Based on artificial potential field method path planning, a new way of optimizing the path using improved potential field and immune algorithm was proposed. The results of simulation verify that the new method can sol,Je effectively the problem of dead lock caused by the defects of the APF model, and can complete the task of path planning in complex environment.
出处
《软件导刊》
2008年第4期51-53,共3页
Software Guide
关键词
人工势场
移动机器人
路径规划
免疫算法
Artificial Potential Field （APF）
Immune Algorithm
Mobile Robot
Path Planning
