基于动态模煳人工势场法的移动机器人路径规划.pdfVIP

( ) 计算机工程与设计 Computer Engineering and Design 1558 2010,31 7 计算机工程与设计 Computer Engineering and Design 人工智能 基于动态模糊人工势场法的移动机器人路径规划 + 孟 蕊， 苏维均 ， 连晓峰 ( 北京工商大学 计算机与信息工程学院，北京 100048) 摘 要：传统人工势场法在路径规划中存在局部极小值问题，而且不能满足动态环境中移动机器人路径规划对实时性、安 全性和可达性的要求。针对传统人工势场法存在的问题，通过引入速度矢量，改势场力函数，并与模糊控制方法相结合，实 时调节斥力势场系数，克服人工势场法的缺陷。在MATLAB 平台中验证了方法的有效性，实验结果表明，该方法优于人工势 场法模型的路径规划。 关键词：人工势场法; 模糊控制; 移动机器人; 路径规划; 局部极小值 中图法分类号：TP242 文献标识码：A 文章编号：1000-7024 (2010) 07-1558-04 Mobile robot path planning based on dynamic fuzzy artificial potential field method + MENG Rui, SU Wei-jun , LIAN Xiao-feng (College of Computer and Information Engineering, Beij ing Technology and Business University, Beij ing 100048, China) Abstract ：Traditional Artificial potential field method has the problem of local minimum and can not satisfy real-time mobile robot path planning, security and accessibility requirements in dynamic environment. To deal with the problems, through taking the advantage of velocity vector, modifying potential field force function, and integrating with the fuzzy control method, adjusting the factors of repulsion potential field in real time, a new method is proposed in order to overcome the shortcomings of artificial potential field method. To validate the proposed method, simulation experiments are conducted in MATLAB platform, and experimental results demonstrate that the performance of this proposed method is better than the traditional artificial potential field model. Key words ：artificial potential field method; fuzzy control; mobile rob