针对存在随机运动障碍的复杂动态环境, 提出了一种改进的机器人路径规划新方法。对于随机运动障碍, 综合考虑机器人与障碍物的相对位置及相对速度, 设计一种新的动态障碍避碰规则, 使机器人安全地避开障碍, 并避免大量迂回路径; 对于匀变速运动目标, 采用改进的人工势场法, 引入相对速度及加速度因素, 使机器人能追上目标并保持同步运动。基于Matlab的仿真实验验证了所提方法的有效性。

An improved method for path planning of robots is proposed for use in complex and dynamic environment with randomly moving obstacles.In order to avoid obstacle safely without too much circuities, a new rule is used for avoiding randomly moving obstacles with consideration of the relative position and velocity between the robot and obstacles.To the object moving with uniformly variable speed, an improved artificial potential method is adopted with consideration of the relative velocity and acceleration, which can help the robot to keep pace with the object.The simulation results based on Matlab platform show the effectiveness of the algorithm.