CAJ | 학술논문

针对人工势场法中势场增益系数的匹配不当影响避障轨迹平稳性的问题，在ADAMS环境中建立移动机器人的三维避障模型，从机器人受力平衡角度深入分析轨迹产生振荡的原因，经过适当缩小两个增益系数的数量级差获得了较平稳的避障轨迹，机器人质心速度最高增幅控制在合理的范围内。同时以速度矢量导向法则来指引机器人的转向动作，实现了行驶过程中车体姿态的实时调整，有助于避障轨迹的进一步优选。另外车体实时转向的添加引起车体两侧车轮运动参数不一致，与单纯的平行运动相比，改进方法对差速转向的机器人的实际控制更具有参考价值。
침대인공세장법중세장증익계수적필배불당영향피장궤적평은성적문제，재ADAMS배경중건립이동궤기인적삼유피장모형，종궤기인수력평형각도심입분석궤적산생진탕적원인，경과괄당축소량개증익계수적수량급차획득료교평은적피장궤적，궤기인질심속도최고증폭공제재합리적범위내。동시이속도시량도향법칙래지인궤기인적전향동작，실현료행사과정중차체자태적실시조정，유조우피장궤적적진일보우선。령외차체실시전향적첨가인기차체량측차륜운동삼수불일치，여단순적평행운동상비，개진방법대차속전향적궤기인적실제공제경구유삼고개치。
To solve the problem that the mismatch of gain factors will impact the avoidance trajectory stability a-bout artificial potential field method, a three-dimensional mobile robot obstacle avoidance model was created in the ADAMS environment. The cause of oscillation trajectory was analyzed from the perspective of force balance in the ro-bot. After narrowing the differential between two gain factors, the avoidance trajectory was more stable and robot cen-troid highest growth rate was controlled at a reasonable range. The body posture achieved real-time adjustment during moving by using the velocity vector-oriented rules to guide the robot's steering movement. It conduces to further pre-ferred avoidance trajectory. The addition of real-time steering is more valuable for the differential steering robot con-trol against the parallel movement due to the differential motion parameters of two side wheels.