基于灰色定性理论的无陷阱人工势场.pdfVIP

绗?8 鍗 绗? 鏈 鎺 鍒 涓 鍐 绛 2013 骞 6 鏈 Vol. 28 No. 6 Control and Decision Jue 2013 鏂囩珷缂栧彿: 1001-0920 (2013) 06-0879-05 鍩轰簬鐏拌壊瀹氭€х悊璁虹殑鏃犻櫡闃变汉宸ュ娍鍦 鏉庝功鏉? 鐜 楣? 闄堝畻娴 (涓浗绉戝鎶€鏈ぇ瀛﹁嚜鍔ㄥ寲绯伙紝鍚堣偉230027) 鎽 瑕? 閽堝浼犵粺浜哄伐鍔垮満涓瓨鍦ㄥ眬閮ㄩ櫡闃遍棶棰? 鎻愬嚭涓€绉嶅熀浜庣伆鑹插畾鎬х悊璁虹殑浜哄伐鍔垮満绠楁硶. 棣栧厛灏嗙幆澧冧腑鑷敱 绌洪棿鍒嗚В涓轰竴缁勫嚫澶氳竟褰? 浠ュ嚫澶氳竟褰㈢殑椤剁偣鍜岄偦鎺ュ叧绯讳綔涓哄叧閿俊鎭? 骞跺垎鍒瀯鎴愮伆鑹插畾鎬у熀鏈厓鍜岀伆鑹插畾鎬у叧 绯? 鐢辩伆鑹插畾鎬у叧绯绘帹鐞嗕粠璧峰鐐瑰埌鐩爣鐐归渶缁忚繃鐨勫嚫澶氳竟褰㈠簭鍒? 鍐嶇敤骞夸箟鐧藉寲鍑芥暟璁＄畻鍑稿杈瑰舰搴忓垪涓殑鍔垮満. 鐞嗚鍒嗘瀽鍜屽疄楠屽潎琛ㄦ槑璇ョ畻娉曡兘澶熺‘淇濇満鍣ㄤ汉鍦ㄦ湁闄愮殑鏃堕棿鍐呭畨鍏ㄥ埌杈剧洰鏍囩偣. 鍏抽敭璇岤 鐏拌壊瀹氭€э紱浜哄伐鍔垮満锛涜矾寰勮鍒掞紱绉诲姩鏈哄櫒浜 涓浘鍒嗙被鍙耳 TP24 鏂囩尞鏍囧織鐮? A Arti铿乧ial potential 铿乪ld without traps based on grey qualitative theory LI Shu-jie, WANG Peng, CHEN Zong-hai (Department of Automation锛孶niversity of Science and Technology of China 锛孒efei 230027 锛孋hina. Correspondent 锛欳HEN Zong-hai锛孍-mail 锛歝henzh@ustc.edu.cn) Abstract: Aiming at the local traps problem in the traditional arti铿乧ial potential 铿乪ld, an arti铿乧ial potential 铿乪ld algorithm based on grey qualitative theory is proposed. The free space of environment is decomposed into series of convex polygons by using the convex decomposition algorithm. Vertices of convex polygons and the adjacency relationship between them are taken as the key information of environment, which are de铿乶ed as the grey qualitative fundamental element and the grey qualitative relationship respectively. The sequence of convex polygons from start point to target point is deduced by grey qualitative relationship, and then the potential 铿乪ld in those convex polygons is calculated by generalized whitening function. Theoretical analysis and the experiment verify that the proposed algorithm can ensure the robot reach the target safely in 铿乶ite time.