为了解决传统人工势场法在路径规划中存在局部最小和目标不可达的问题, 提出了一种改进的人工势场法。首先,引入障碍物的碰撞范围和使用角度定义障碍物的影响范围, 排除机器人前进方向一定角度和距离外障碍物的影响;其次, 为了解决目标不可达问题, 基于目标点与机器人的距离改进斥力函数;最后,利用外接六边形在障碍物的碰撞范围外创造虚拟目标点, 避免机器人陷入局部最小。基本环境和复杂环境下的实验结果表明:所提算法可以在一定程度上克服传统算法的缺陷, 是一种有效的路径规划算法。

In order to solve the problems of local minimum and unreachable target in traditional artificial potential field method, an improved artificial potential field method is proposed.Firstly, the collision range of obstacles is introduced and the influence range of obstacles is defined by using angles to eliminate the influence of obstacles at a certain angle and distance in the forward direction of the robot.Secondly, the repulsion function is improved based on the distance between the target point and the robot to solve the target unreachable problem.Finally, the circumscribed hexagon is used to create a virtual target point outside the collision range of the obstacle to avoid the robot from falling into a local minimum.Experiment results in basic and complex environments show that the improved algorithm can overcome the defects of the traditional algorithm to some extent, and is an effective path planning algorithm.