本科毕业设计---基于人工势场法的机器人路径规划.doc

毕业设计（论文） 基于人工势场法的移动机器人 路径规划 学生姓名： 学 号： 专业班级：自动化 指导教师： 摘要 路径规划是移动机器人研究的一个基本而又极其重要的课题。灵活有效的路划算法能够帮助机器人适应各种复杂的环境。本文针对移动机器人在已知环境下的路径规划作了下列工作: 回顾了现有算法，如几何法，栅格法，人工势场法。对人工势场法作了深入的探讨。本文详细的探讨了这一问题，并且通过仿真来说明方法的有效性。在己知环境下通过仿真检验说明人工势场法的优点:避障算法简单，实时性好，但是当障碍物距目标点很近时，人工势场法在使机器人到达目标点上却有着一些固有的缺点和局限性。 提出了改进的势场法，改进的势场法可以克服势场法的上述缺点，并通过仿真实验说明了改进方法的有效性。 关键字：移动机器人 路径规划 人工势场法 Abstract Path planning is a fundamental issue in the mobile robot research. Flexible and effective path planning algorithm is helpful for the robot to adapt to a complex environment. Considering the path planning of a mobile robot in an known environment, this paper does the following work. 1) The existing algorithms are reviewed, such as Geometry Vertex, Grid, Artificial Potential Field and etc. . The artificial potential field is studied. The paper discusses this method in detail. Simulation is done to illustrate the effect of strategy. For a known environment, some simulation is done to show the pros of artificial potential field. The algorithm is simple, real-time. But there are some inherent flaws and limitations in object reaching when an obstacle is closed to the object. An improved potential field is proposed to overcome shortcomings mentioned above. Simulation is done to show the effectiveness of the proposed method. Keyword：mobile robot , path planning, artificial potential field 目 录 第1章 前言········································································································1 1．1机器人概述···························································································1 1．2移动机器人概述···················································································1 1．3路径规划的概念和意义·······································································2 第2章 人工势场法····························································································6 2．1场强的基本模型···················································································6 2．2人工