| 基于含避障角人工势场法的机器人路径规划 |
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| 引用本文： | 万俊,孙薇,葛敏,王克鸿,章晓勇.基于含避障角人工势场法的机器人路径规划[J].农业机械学报,2024,55(1):409-418. |
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| 作者姓名： | 万俊 孙薇 葛敏 王克鸿 章晓勇 |
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| 作者单位： | 南京理工大学；江苏理工学院 |
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| 基金项目： | 常州市应用基础研究计划项目（CJ20235061)、中国博士后科学基金项目(2021M691588)和江苏省自然科学基金项目(BK20210351) |
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| 摘 要： | 针对基于距离的人工势场法(Artificial potential field，APF)存在的局部极小值问题，提出了一种含避障角的人工势场法的避障路径规划方法。在平面环境中，采用斜率判定路径规划过程中的位置关系，通过机器人当前点到障碍物的距离与障碍物的影响半径二者之差得出人工势场法中的排斥力，并对排斥力的偏转角进行调整；另外，在空间环境中利用圆弧插补理论将机器人平面避障问题转换为空间避障问题；基于机器人构型配置对改进人工势场法进一步完善以满足实际避障要求。仿真和实验研究结果表明，含避障角的人工势场法，在单个或多个障碍物环境中进行避障路径规划时解决了局部极小值的问题，同时实现了6自由度机器人末端在避障时的轨迹曲线平滑无振荡，验证了所提出避障路径规划方法的可行性。
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| 关 键 词： | 6自由度机器人 人工势场法 避障角 避障偏转角度 圆弧插补 |
| 收稿时间： | 2023/6/2 0:00:00 |
Robot Path Planning Based on Artificial Potential Field Method with Obstacle Avoidance Angles |
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| WAN Jun,SUN Wei,GE Min,WANG Kehong,ZHANG Xiaoyong.Robot Path Planning Based on Artificial Potential Field Method with Obstacle Avoidance Angles[J].Transactions of the Chinese Society of Agricultural Machinery,2024,55(1):409-418. |
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| Authors: | WAN Jun SUN Wei GE Min WANG Kehong ZHANG Xiaoyong |
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| Abstract: | Aiming at the local minima problem of the distance-based artificial potential field (APF) method, an obstacle avoidance path planning method with the artificial potential field method containing obstacle avoidance angle was proposed. In a planar environment, the slope was used to determine the positional relationship during the path planning process, and the magnitude of the repulsive force in the artificial potential field method was derived from the difference between the distance from the robot''s current point to the obstacle and the radius of influence of the obstacle, and the deflection angle of the repulsive force was adjusted, thus overcoming the shortcomings of local minima that existed in the traditional artificial potential field method. In addition, the circular arc interpolation theory was utilized to convert the robot planar obstacle avoidance problem into a spatial obstacle avoidance problem in a spatial environment. The improved artificial potential field method was further refined based on the robot configuration to meet the practical obstacle avoidance requirements. The effectiveness of the improved artificial potential field method was verified by simulation and experiment. The results of simulation and experimental studies showed that the artificial potential field method containing obstacle avoidance angles not only solved the problem of local minima when performing obstacle avoidance path planning in single or multiple obstacle environments, but also realized the smooth trajectory profile of the end of the 6-DOF robot with no oscillations during obstacle avoidance, thus verifying the feasibility of the proposed obstacle avoidance path planning method. |
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| Keywords: | 6-DOF robot artificial potential field method obstacle avoidance angle deflection angle for obstacle avoidance circular interpolation |
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