基于改进人工势场法的救灾机器人路径规划

田子建; 高学浩

doi:10.13272/j.issn.1671-251x.2016.09.009

基于改进人工势场法的救灾机器人路径规划

中国矿业大学（北京）机电与信息工程学院，北京100083

基金项目:

国家自然科学基金重点资助项目（51134024）

国家自然科学基金资助项目(U1261125)

详细信息

中图分类号: TD67
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- 刊出日期: 2016-09-09

Path planning of rescuing robot based on improved artificial potential field method

School of Mechanical Electronic and Information Engineering, China University of Mining and Technology(Beijing), Beijing 100083, China

摘要

摘要: 针对矿井障碍物复杂多变、救灾机器人采用传统人工势场法进行路径规划易陷入局部极小点的问题，提出一种基于改进人工势场法的救灾机器人路径规划方法。该方法通过在引力场中加入扰动场来改变引力场函数，使救灾机器人在陷入局部极小点时自主走出局部极小点；结合障碍填充法，通过对凹障碍物进行虚拟填充，形成新的障碍物并产生相应的斥力场函数，避免救灾机器人再次陷入局部极小点。仿真及测试结果验证了该方法的可行性及有效性。
- 救灾机器人路径规划 /
- 人工势场法 /
- 扰动场 /
- 势场函数 /
- 障碍物填充法 /
Abstract: For a problem that rescuing robot was easily stacked into local minimal point by using traditional artificial potential field method to plan path in coal mine underground with complex obstacles, a path planning method of rescuing robot based on improved artificial potential field method was proposed. In the method, perturbation field is added into gravitation field to change gravitation field function, so as to make rescuing robot go out of local minimum point autonomously when the robot stacks into the local minimum point. Meanwhile, obstacle is filled virtually through an obstacle filling method, thus a new obstacle is formed and a corresponding repulsive potential field function is generated to avoid rescuing robot to stack into local minimal point again. The simulation and test results verify feasibility and validity of the method.
- rescuing robot /
- path planning /
- artificial potential field method /
- perturbation field /
- potential field function /
- obstacle filling method

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文章访问数: 106
HTML全文浏览量: 6
PDF下载量: 16
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基于改进人工势场法的救灾机器人路径规划

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出版历程

Path planning of rescuing robot based on improved artificial potential field method

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出版历程

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