基于模拟退火算法的割草机器人的避障研究

摘要

局部路径规划是割草机器人关键问题之一,针对该问题目前运用较多的是人工势场法,但传统的人工势场法往往存在局部极小点,因此,本文提出采用填平势场与模拟退火算法相结合的解决策略,求解势场强度的最小值作为下一行走目标,多个序列目标构成优化路径,引导机器人脱离局部极小点,绕过障碍物到达目标点。仿真结果表明：该算法不仅有效地克服了局部极小点,且优化了机器人的行走路径、降低了路径的复杂度。%Local path planning is one of the key issues of mowing robot.Aiming at this problem,the method used more is artificial potential field,but there is often a local minimum problem in the traditional artificial potential field.Therefore,this article introduced a strategy which could guide the robot around obstacles from the local minimum to reach the target successfully.The strategy which combines a filled potential field and simulated annealing algorithm is to solve the minimum of the potential field strength as next target and connect them to constitute the optimal path.The results of the simulation indicated that this method not only overcomes the artificial potential field of the local minimum effectively,but also optimizes the path and reduces the complexity of the path.