摘要
针对人工势场法中局部极小问题产生的根源,提出将现场中容易导致局部极小问题的区域通过一些人为设置的特征点隔离出来。利用目标点和特征点构成的图形面积之和与被隔离区域的面积之差提前判断目标点和被隔离区域的位置关系,当目标点在隔离区域外部时,避免了移动机器人由于环境信息不足而误入隔离区域陷入局部极小问题。
To avoid the disadvantage of artificial potential field, a method was put forward to separate the region which will result in local minimization by some special points. The mobile robot will get the location of goal point by the difference of area between the region and the figures consisting of the goal point and the special points beforehand. When the goal point is outside of the region, the mobile robot can avoid entering into these regions and fall into local minimization for the limiting information.
出处
《武汉理工大学学报》
CAS
CSCD
北大核心
2005年第8期77-79,共3页
Journal of Wuhan University of Technology
基金
国家"863"项目(2003AA412030-6)
关键词
路径规划
人工势场法
局部极小
path planning
artificial potential field
local minimization
作者简介
申魁华（1978-），男，硕士生，E-mail：skh1978@163．com
