文献类型：期刊文献

中文题名：基于PSO的人工势场法在移动机器人路径规划中的应用

英文题名：An Application of Artificial Potential Field Based on PSO in Path Planning of Mobile Robot

作者：丁华胜[1];王华忠[1]

机构：[1]华东理工大学自动化系,上海200237

年份：2010

卷号：36

期号：5

起止页码：727

中文期刊名：华东理工大学学报（自然科学版）

外文期刊名：Journal of East China University of Science and Technology

收录：CSTPCD;;Scopus;北大核心:【北大核心2008】；CSCD:【CSCD2011_2012】；

语种：中文

中文关键词：粒子群算法(PSO);人工势场(APF);栅格法;均值滤波

外文关键词：particle swarm optimization（PSO）; artificial potential field（APF）; grid method; mean filter

摘要：针对栅格法环境模型下PSO算法的结果是一组离散的粒子,需要通过某种准则把离散的粒子变换为连续路径的问题,提出了一种利用人工势场法把PSO规划的结果自行变换成连续路径的新方法。为了避免人工势场使机器人在障碍物附近产生震荡,采用均值滤波的方法,规划出一条平滑最优路径。仿真结果表明:该算法能比较容易地得到最优路径,有效地避免路径的震荡现象,同时也可以在变化的环境中寻找一条路径。
Under the environment model of grid method,the results of PSO algorithm are a set of discrete particles that is necessarily transformed into a continuous path by some guidelines.Aiming at the above problem,this paper proposes a new method to automatically transform the results of PSO algorithm to continuous path.In order to avoid the oscillating near obstacles in an artificial potential field method,this paper presents a method of mean filter to plan the shortest smooth path.Simulation results show that this algorithm can easily obtain the optimization path and effectively avoid the oscillation of the path.