机器人二维环境下仿人虚拟力场避障研究.pdfVIP

cD terEnginPP，igon ，fc口砌·s计算机工程与应用 2010，46(34) — 机器人二维环境下仿人虚拟力场避障研究 金英连，王斌锐，吴善强 J1N Ying-lian，WANG Bin-rui，W U Shan—qiang 中国计量学院 机电工程学院，杭州 310018 SchoolofMechanicaland ElectricalEngineering，China Jiliang University，Hangzhou 310018，China E—mail：wangbinrui@163．tom JIN Ying．1ian．WANG Bin．rui，W U Shah-qiang．Avoiding obstaclesusing virtualforce field with humanoid strategy for autonomousrobotin2-D environment．ComputerEngineeringandApplications，2010，46(34)：215-218． Abstract：Obstaclesavoiding isthediffi cultproblem ofautonomousrobotin dynamic environment．Firstly，memodelofenvi— ronmentincludingrobot，obstaclesand targetare established and given．Then humanoid strategiesofwalking areanalyzedand formulatedintoVirtualForceField(VFF)algorithm．Inordertodealwithmovingobstacles，theadjacentsmoothingmethod isusedinaccumulationcomputingofConfirmationFactors(CF)whichmeanthedegreeofgridbeingobstacle．Theradius ofadjacentareaisdesignedtoberelevanttotheobstaclemovingspeed．Uncertainreasoningisadoptedforcomputingcom— plex CF with uncertain ofenvironmentand sensors signa1．and synthesize method isdesigned ofrmulti—sensorsdetecting Ob— stacles．W hen targetisoutrobotsensorworkspace，the attraction forcecomputing formula using direction parameters isgiven． Theweightvarying with angle from robotmoving direction to obstaclesisdesigned，and used to make robotmore sensitivi— ty to obstacleson moving way 1ike human．In orderto walk out1ocalminima point，the virtualtargetiSused，which iSob— tained by temporalchanging targetdirection．Indoorand outdoorvirtualenvironmentare established on MobotSim ，and the al— gofithm proposed isprogrammed using Basic．The simulation tests are finished and analyzed．The given results demonstrate the feasibility and effectiveness ofproposed method．The