东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2009, Vol. 30 ›› Issue (5): 644-647.DOI: -

• 论著 • 上一篇    下一篇

一种AAPF算法及其在多机器人路径规划中的应用

高巍;赵海;罗桂兰;宋纯贺;   

  1. 东北大学信息科学与工程学院;
  • 收稿日期:2013-06-22 修回日期:2013-06-22 出版日期:2009-05-15 发布日期:2013-06-22
  • 通讯作者: Song, C.-H.
  • 作者简介:-
  • 基金资助:
    高等学校科技创新工程重大项目培育基金资助项目(708026)

AAPF algorithm and its application to the path planning problems of multiple mobile-robots

Gao, Wei (1); Zhao, Hai (1); Luo, Gui-Lan (1); Song, Chun-He (1)   

  1. (1) School of Information Science and Engineering, Northeastern University, Shenyang 110004, China
  • Received:2013-06-22 Revised:2013-06-22 Online:2009-05-15 Published:2013-06-22
  • Contact: Song, C.-H.
  • About author:-
  • Supported by:
    -

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摘要： 研究了多移动机器人系统中的路径规划问题,提出一种自适应人工势场算法AAPF.通过引入自适应滑动策略,克服了基本APF算法容易陷入局部极值的问题;通过引入自适应退避策略,解决了多机器系统路径规划中的避碰问题.将AAPF算法应用到多机器人系统的路径规划问题中,仿真实验证明了AAPF算法的有效性.

关键词: 移动多机器人系统, 路径规划, 人工势场, 自适应避碰, 自适应滑动

Abstract: The path planning of a system composed of multiple mobile-robots is investigated, and an adaptive-artificial potential field (AAPF) algorithms is proposed, in which the adaptive sliding strategy is introducted to solve the problem that the basic APF is easy to come to lobal extremum. And the adaptive anticollision strategy is introduced into the algorithm to solve the problem of collinsion in the path planning of the system of multiple mobile-robots. The effectiveness of AAPF algorithm was verified by a simulation test where AAPF was applied to the path planning of the system of multiple mobile-robots.

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