非完整移动机器人的人工势场法路径规划

Path planning for nonholonomic mobile robots using artificial potential field method

中文关键词  移动机器人  非完整约束  路径规划  人工势场

英文关键词  mobile robot  nonholonomic constraint  path planning  artificial potential field

中文摘要

      基于人工势场的移动机器人路径规划方法在最近20多年里受到了广泛关注. 然而研究者主要将目光集中于解决其各种理论问题, 在研究中大都将机器人看作无约束的质点或刚体, 通常无法直接应用于受到非完整约束限制的轮式移动机器人. 针对人工势场法在轮式移动机器人上的实现问题, 本文对两种已有实现方法进行了理论分析, 指出其存在目标不可达的隐患和无法在不同环境下兼顾路径规划性能的问题, 并提出一种基于模糊规则的新方法, 通过在不同的情况下调整控制方式和参数解决前述问题. 仿真研究表明, 该方法在保证目标可达的前提下能够在多种环境中获得更好的总体规划性能.

英文摘要

      The path planning method based on the artificial potential field(APF) has attracted many researchers for more than twenty years. However, most of them focused their attention to theoretical aspects and considered the robot a particle or rigid body without constraints. Therefore many achievements can not be applied directly to wheeled mobile robots with nonholonomic constraints. To apply the APF method on a wheeled mobile robot, we theoretically analyze two existing approaches and reveal their hidden failures in reaching the target and the unbalanced performances of path planning in different environments. A new method based on fuzzy rules has been proposed to solve these problems by modifying the control pattern or parameters in different situations. Simulation studies show that the proposed method can acquire better overall performance in various environments on the premise of reaching the target.