摘要
在研究多机器人路径规划传统方法的基础上,提出了一种改进的自适应人工势场法.该方法通过设置虚拟目标点来解决传统人工势场法易陷入局部极小点的问题,同时根据各个机器人所承担的任务和速度,采用自适应优先权策略来实现机器人之间的自适应避障.仿真实验验证了该方法的有效性和可行性.
Based on the study of the traditional multi-robot path planning, an improved adaptive artificial potential field method was proposed. In this method, the local minimum problem of the traditional artificial potential field could be solved by setting the virtual target point for mobile robot to escape local minimum. At the same time, according to the task and speed of the robot, it used the adaptive priority strategy to real- ize the adaptive obstacle avoidance of the robot. The results of the simulation proved the effectiveness and feasibility of this method.
出处
《郑州轻工业学院学报（自然科学版）》
CAS
2013年第6期77-80,共4页
Journal of Zhengzhou University of Light Industry:Natural Science
关键词
多移动机器人
人工势场法
虚拟目标点
自适应避障
multiple mobile robots
artificial potential field
virtual target point
adaptive obstacle avoidance
