关键词: 路径规划')">

路径规划, 人工势场法, 移动机器人, 感知测量法

Abstract:

A new improved artificial potential field optimization algorithm is proposed to solve the problems of inaccessibility and low search efficiency in robot path planning.In order to ensure sufficient implementation in the real environment,this algorithm does not calculate all obstacles in the environment,but only carries out a close sensing measurement on the surface of the obstacles,and then detects the obstacles in a certain range through each fixed angle of the sensor.The algorithm not only proposes new repulsion and gravity functions based on the traditional artificial potential field method,but also improves the calculation principle of the potential field method to solve the problem that the target cannot be reached without increasing the amount of calculation.The experimental results fully verify that the improved artificial potential field algorithm can solve the problem that the target is not reachable in robot path planning,which shows that the algorithm is more efficient and superior than the traditional artificial potential field method.

Key words: path planning')">

path planning, artificial potential field method, mobile robot, sensing measurement method