基于改进人工势场法的移动机器人路径规划研究

发布时间：2018-12-12 02:47

【摘要】：移动机器人技术是机器人学中非常重要的组成部分,在很多领域都具有广阔的应用前景。随着计算机、通信以及人工智能技术的飞速发展,科研人员对移动机器人的探索也在逐渐的加深。其中,路径规划技术是移动机器人研究领域中最重要也最基本的技术,决定着机器人如何在工作空间中行走,良好的路径规划将极大的提高机器人的工作性能及机器人的运行稳定性。因此,针对路径规划问题,本文做了如下研究:(1)归纳移动机器人路径规划方法,分析移动机器人路径规划的国内外研究现状,为课题研究提供思路和理论基础。(2)阐述传统人工势场法的基本原理,分析传统势场法在路径规划中的缺陷,并提出改进算法。针对目标不可达问题,本文在传统排斥力函数的基础上添加与机器人和目标点之间相对距离有关的高斯函数,确保机器人在目标处受力平衡;针对局部极小问题,本文对排斥力在坐标轴上的分量添加变量以改变排斥力的大小及方向,使机器人逃出局部极小点。(3)利用MATLAB软件对所提算法进行仿真分析,验证算法的可行性,并与传统算法进行对比,验证所提算法的效果。(4)搭建机器人平台进行物理实验,验证算法在实际应用中的可行性。
[Abstract]:Mobile robot technology is a very important part of robotics and has a broad application prospect in many fields. With the rapid development of computer, communication and artificial intelligence technology, researchers' exploration of mobile robot is gradually deepening. Among them, path planning is the most important and basic technology in the field of mobile robot research, which determines how the robot walks in the workspace. Good path planning will greatly improve the performance of the robot and the stability of the robot. Therefore, this paper has done the following research on the path planning problem: (1) summarize the path planning methods of mobile robot, and analyze the current research situation of path planning of mobile robot at home and abroad. It provides the thought and theoretical basis for the research. (2) the basic principle of the traditional artificial potential field method is expounded, the defects of the traditional potential field method in the path planning are analyzed, and the improved algorithm is put forward. Aiming at the problem of unreachable target, this paper adds Gao Si function related to the relative distance between the robot and the target point on the basis of the traditional repulsive force function to ensure the force balance of the robot at the target. Aiming at the problem of local minima, this paper adds variables to the component of repulsion force on the coordinate axis to change the magnitude and direction of the repulsion force, so that the robot can escape from the local minimum point. (3) the proposed algorithm is simulated and analyzed by using MATLAB software. Verify the feasibility of the algorithm and compare with the traditional algorithm to verify the effectiveness of the proposed algorithm. (4) build a robot platform for physical experiments to verify the feasibility of the algorithm in practical applications.
【学位授予单位】：天津理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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