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。
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.
出处
《辽宁科技大学学报》
CAS
2010年第5期460-463,共4页
Journal of University of Science and Technology Liaoning
关键词
机器人
路径规划
人工势场法
角度偏移
robot
path planning
artificial potential field
angular deflection
