The study introduces the radius of the obstacle and the radius of the robot according to the shortcomings of the traditional artificial potential field method to improve the repulsion function;and changes the resultant force according to the center line method in different environments to solve the problem of the machine falling into the local minimum point.The improved artificial potential field method is verified on the MATLAB platform.Simulation results show that the improved artificial potential field method can successfully solve the problem of collision between the robot and the obstacle,and avoid the phenomenon of the robot falling into the local minimum point.
关键词
移动机器人/改进人工势场法/改进斥力函数/中心线法/MATLAB
Key words
Mobile robot/Improved artificial potential field method/Improved repulsion function/Center line method/MATLAB
维普
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