关键词: 人工势场法, 移动机器人, 路径规划, 模糊决策, 局部最小点

Abstract: Aiming at the problem faced in the traditional artificial potential field method that the robot cannot reach the target point due to the local minimum point in the path planning, a dynamic path planning method based on the fuzzy artificial potential field method is proposed by considering that the relevant parameters of the artificial potential field method are not constant in actual environment. The fuzzy decision is made by the expert’s experience, which is used to adjust the force magnitude and direction of the robot at each moment, and then deals with uncertainty of the repulsive force constant, the gravitational direction deviation angle and the robot speed. To verify the efficiency of the proposed method, it is applied to a four-wheel omni-directional robot platform and the results show that the motion trajectory of the robot is smoother and the oscillation problem is avoided successfully.

Key words: artificial potential field method, mobile robot, path planning, fuzzy decision, local minimum point