关键词: 移动机器人, 局部路径规划, 模糊势场法, 虚拟目标点, 局部极小点, 有限状态机

Abstract:

A fuzzy potential field method based on virtual target point and Finite State Machine（FSM）?is proposed to solve the problem of local minimum point and over-long planned path existed in the traditional artificial potential field method for local path planning of the mobile robot. The virtual target point method based on artificial potential field is constructed to solve the local minimum problem, and it is set in an appropriate position to make the robot escape from the local minimum point area. The virtual target point method is combined with fuzzy control to predict the obstacle environment and avoid obstacles in time, so as to solve the problem of over-long path when the robot adopts?the virtual target point method to plan the path in complex environment. A model of the FSM is designed to judge the obstacle environment, and the algorithm conversion strategy is implemented to make the improved algorithm suitable for various environments. The designed method is tested on the MATLAB platform. The simulation results show that the algorithm can make the robot escape from the local minimum point and shorten the planned path. It is not only applicable to the simple and discrete environment, but also can plan the feasible optimization path in the complex environment where the traditional algorithm is difficult to operate, such as the wall-like, U-shaped and multiple U-shaped obstacles environments.

Key words: mobile robot, local path planning, fuzzy potential field method, virtual target point, local minimum point, Finite State Machine（FSM）