移动机器人实时避障策略研究及实例仿真
摘 要：针对传统人工势场法存在的易陷入局部极小以及在目标位置处振荡不可达问题，本文提出一种基于改进势场函数模型的移动机器人实时避障策略，通过在斥力场增加与目标点相对位置因子来解决目标点振荡不可到达问题，通过判断局部极小来动态调整移动机器人的行走方向来摆脱局部极小点。最后，对于该实时避障策略进行MATLAB实例仿真验证，从仿真结果可以看出，传统人工势场算法会存在振荡，局部极小问题，而改进模型中的两种方向调整策略都可以顺利到达目标位置点，可以满足实时路径规划的要求。
关键词：人工势场；移动机器人；实时避障；局部规划
中图分类号：XXXX 文献标识码：A
文章编码：1672-7053(2017)09-0121-02
Abstract：According to the problems that traditional artificial field method is easy to fall into local minimum and oscillation which result in the target position unreachable, mobile robot real-time obstacle avoidance strategy based on the method of improved artificial potential field is put forward. The oscillation problem is solved by means of increasing the relative position factor between the target position and the current position in the repulsive force field. The local minimum is estimated and then got rid of by adjusting the walking direction of the mobile robot dynamically. Finally, based on MATLAB simulation platform, the real-time obstacle avoidance strategy is validated by example simulation. The simulation results indicate that traditional artificial field method exist the problem of local minimum and oscillation, and the adjustment strategy of two directions in the improved model can reach the target position successfully, and the requirement of real-time path planning is satisfied.
Key Words：artificial potential field; mobile robot; real-time obstacle avoidance; local path planning
