引入模糊斥力的改进人工势场法及机器人局部路径规划
Local Path Planning Based on Improved Artificial Potential Field Using Fuzzy Repulsion Force for Robot
作者: 吴晓光 , 龚思沛 , 谢 平 ：燕山大学电气工程学院，河北省测试计量技术及仪器重点实验室，秦皇岛;
关键词: 机器人； 局部路径规划； 人工势场； 局部最小； 模糊控制； Mobile Robot； Local Path Planning； Artificial Potential Field； Local Minimal Point； Fuzzy Control
摘要:Abstract: An improved artificial potential field method is proposed to solve the local minimum which exists in the traditional artificial potential field. First, on the basis of improving the attractive field and repulsive field functions of traditional artificial potential field, the problem on goals non-reacha- ble with obstacles nearby (GNRON) is solved by determining the reasonable range of gain of gra-vitational field and repulsive field. Then, the fuzzy control algorithm is used to calculate the fuzzy repulsion force and the situation when different obstacles are located between the robot and the goal is solved by calculating the virtual force using the fuzzy repulsion force which navigates the robot moving around the obstacle. At last, the proposed approach is verified by MATLAB simulation and indoor experiment, the results of which illustrate that the improved artificial potential field method is effective to solve the local minimal problem.
文章引用: 吴晓光 , 龚思沛 , 谢 平 (2014) 引入模糊斥力的改进人工势场法及机器人局部路径规划。 电气工程， 2， 48-60. doi: 10.12677/JEE.2014.23007
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