基于改进虚拟力场的机器人路径规划方法

摘要

Robot path planning in unknown environments is one of the hot research topics in the field of robot control.Aiming at the shortcomings of traditional methods,an improved virtual force field (VFF)approach is proposed in this paper for robot path planning in unknown environments.An area ratio parameter is introduced in the proposed VFF approach which makes the movement of robots safer and the time to targets shorter.Finally,some experiments are conducted to show the efficiency of the proposed approach.%未知环境下机器人路径规划是机器人控制领域的研究热点问题之一，针对传统方法存在的不足，提出一种基于改进虚拟力场的未知环境下机器人路径规划方法。在虚拟力场方法中，通过引入一种面积比参数，将机器人和障碍物的大小考虑进算法当中，从而可以使机器人的运动轨迹更加安全，到达目标的时间更短。最后通过仿真实验证明了所提算法的有效性。