基于模糊人工势场的移动机器人路径规划

针对在传统的人工势场法中对机器人进行路径规划时,容易产生局部极小点问题,提出了一种模糊人工势场方法.对排斥力函数作了改进,引入了障碍物对机器人影响大小的斥力增益系数,通过构建的模糊系统,动态地调节斥力增益系数,从而有效地克服了局部极小点问题.仿真结果表明,该方法具有较强的环境适应能力,能够快速有效地规划出一条光滑的路径.

Mobile robot path planning based on the fuzzy artificial potential field

The local minimum occurs easily when the robot plans a path with the traditional artificial potential field method.A fuzzy artificial potential field method is presented and a repulsive gain factor K is introduced to the repulsive potential function,which indicates the importance of the obstacles around the robot.The repulsive gain factor K can be adjusted through the fuzzy system.The simulation result shows that the robot can overcome the local minimum effectively and plan a smooth path successfully.