Robot path planning method based on improved artificial potential field method

An artificial potential field method and path planning technology, applied in the field of mobile robots, can solve the problems of low walking efficiency at fixed steps, unreachable targets, local minimum points, etc., to reduce the number of path planning steps and reduce the possibility of collision , the effect of improving execution efficiency

Pending Publication Date: 2019-12-03
SOUTHEAST UNIV
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a robot path planning method based on the improved artificial potential field method, which can effectively solve the problems of unreachable targets, local minimum points, and the walking efficiency of the robot with a fixed step length in the path planned by the artificial potential field method. Low and other problems, improve the efficiency of robot path planning

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  • Robot path planning method based on improved artificial potential field method
  • Robot path planning method based on improved artificial potential field method
  • Robot path planning method based on improved artificial potential field method

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Embodiment Construction

[0038] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0039] Such as figure 1 As shown, the artificial potential field method regards the movement of the robot in the environment as the movement in the virtual force field, in which the target point generates gravitational force on the object, guiding the object to move towards it, and the obstacle produces a repulsive force on the robot, preventing the object from interacting with it. Collision. The resultant force generated by the gravitational force and the repulsive force is used as the acceleration force of the robot to control the movement of the whole robot to the target point. Among them, the gravitational force of the target point on the robot decreases with the decrease of the distance, and the repulsion force of the obstacle to the robot increases with the decrease of the distance.

[0040] The present invention...

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Abstract

The invention relates to a robot path planning method based on an improved artificial potential field method. Based on a traditional robot path planning algorithm, that is, the artificial potential field method, a scale factor is first introduced between a gravity function and a repulsion function to adjust the respective proportional actions in the resultant force, which effectively solves the problems of the hovering robot and the unreachable target near the target point; when the robot falls into a local minimum problem, a tangent method is used to select the optimal escape force directionsuch that the robot can jump out of the trap in time to explore other feasible paths; and finally, the robot can adaptively adjust the step size according to the complexity of the environment in whichit is located, thereby effectively reducing the possibility of collision with obstacles, reducing the number of path planning steps, and improving the execution efficiency of the algorithm.

Description

technical field [0001] The invention relates to a robot path planning method based on an improved artificial potential field method, belonging to the technical field of mobile robots. Background technique [0002] The autonomous navigation of robots in dynamic and unknown environments is an important point of robot research, and it is also the most basic function of robots widely used in life and production. Path planning is the core technology of robot autonomous navigation. Or how to walk in the environment of moving obstacles. Its task is to search for a safe, collision-free, optimal or nearly optimal path from the starting point to the target point. [0003] At present, widely used planning methods include A* algorithm, artificial potential field method, neural network algorithm, fuzzy algorithm, grid method, ant colony algorithm, dynamic window algorithm, etc. Compared with other algorithms, the artificial potential field method has the advantages of simple model, stro...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 王庆乔云侠张益阳媛严超
Owner SOUTHEAST UNIV
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