Artificial potential field method-based machine obstacle avoidance method and device

Abstract

The embodiments of the invention disclose an artificial potential field method-based machine obstacle avoidance method and device. With the method and device adopted, a GNRON problem in a machine obstacle avoidance technology can be solved. The method comprises the following steps that: a target point is set, and an obstacle which is located on a path leading to the target point, a distance between a machine and the target point, and a distance between the machine and the obstacle are detected; artificial potential field parameters and relations between the artificial potential field parameters are set based on an artificial potential field method according to detection results, wherein the parameters comprise a first gravity coefficient, a repulsive force parameter, a gravity parameter, aresultant force parameter, the distance between the machine and the obstacle, the distance between the machine and the target point and an obstacle influence range; a target point influence range anda second gravity coefficient are set, and the second gravity coefficient and the target point influence range are added into the relations between the artificial potential field parameters; the distance between the machine and the target point is compared with the target point influence range, and corresponding artificial potential field parameters are determined according to a comparison result;an obstacle avoidance route is calculated according to the determined artificial potential field parameters; and the machine is controlled to move along the obstacle avoidance route.

Description

technical field

[0001] The present application relates to the technical field of intelligent obstacle avoidance, in particular to a machine obstacle avoidance method and device. Background technique

[0002] With the rapid development of intelligent machine technology, the obstacle avoidance function of machines has gradually become important in demand. With the continuous improvement of the requirements for obstacle avoidance technology, simple obstacle avoidance strategies can no longer meet the increasingly complex machine motion environment, so scholars and researchers at home and abroad have begun to develop path planning algorithms for various machine obstacle avoidance.

[0003] The essence of the machine obstacle avoidance algorithm is an algorithm for path planning during the machine movement process. In the prior art, the artificial potential field method is the most common method to solve the machine obstacle avoidance problem. In the artificial potential field m...

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