【摘要】：針對傳統(tǒng)人工勢場法在路徑規(guī)劃中存在局部極小點問題,提出了一種基于虛擬彈簧模型的移動機器人局部路徑規(guī)劃算法。通過模擬彈性小球在有障礙物的斜坡上滾下過程中的受力情況,規(guī)劃移動機器人從開始位置到目標點位置的移動過程;建立彈簧力學模型完成機器人的避障行為,并結合使用沿障礙物邊緣移動和切換目標點位置兩種控制策略,解決局部路徑規(guī)劃算法極易出現(xiàn)的局部極小點問題。仿真試驗和實際移動機器人的實驗表明,該算法能進行實時避障和路徑規(guī)劃,并確保移動機器人在絕大部分環(huán)境中能安全、快速地到達目標點。
[Abstract]:A local path planning algorithm for mobile robot based on virtual spring model is proposed to solve the problem of local minima in path planning based on traditional artificial potential field method. By simulating the force of the elastic ball in the process of rolling down the slope with obstacles, the moving process of the mobile robot from the starting position to the position of the target point is planned. The spring mechanics model is established to complete the obstacle avoidance behavior of the robot. Combined with the control strategy of moving along the edge of the obstacle and switching the position of the target point, the local minimum point problem which is easy to occur in the local path planning algorithm is solved. Simulation experiments and actual mobile robot experiments show that the proposed algorithm can avoid obstacles and plan paths in real time, and ensure that the mobile robot can reach the target point safely and rapidly in most environments.
【作者單位】： 浙江大學電氣工程學院;浙江水利水電學院信息工程與藝術設計學院;杭州電子科技大學計算機學院;
【基金】：浙江省自然科學基金(LY13F020033)項目資助
【分類號】：TP242

【參考文獻】

相關期刊論文 前4條

1 劉洞波;楊高波;肖鵬;屈喜龍;劉長松;;移動機器人自適應抗差無跡粒子濾波定位算法[J];儀器儀表學報;2015年05期

2 羅乾又;張華;王Y，

本文編號：2441629