CAJ | 학술논문

在研究多机器人路径规划传统方法的基础上，提出了一种改进的自适应人工势场法。该方法通过设置虚拟目标点来解决传统人工势场法易陷入局部极小点的问题，同时根据各个机器人所承担的任务和速度，采用自适应优先权策略来实现机器人之间的自适应避障。仿真实验验证了该方法的有效性和可行性。
재연구다궤기인로경규화전통방법적기출상，제출료일충개진적자괄응인공세장법。해방법통과설치허의목표점래해결전통인공세장법역함입국부겁소점적문제，동시근거각개궤기인소승담적임무화속도，채용자괄응우선권책략래실현궤기인지간적자괄응피장。방진실험험증료해방법적유효성화가행성。
Based on the study of the traditional multi-robot path planning,an improved adaptive artificial potential field method was proposed.In this method,the local minimum problem of the traditional artificial potential field could be solved by setting the virtual target point for mobile robot to escape local minimum. At the same time,according to the task and speed of the robot,it used the adaptive priority strategy to real-ize the adaptive obstacle avoidance of the robot.The results of the simulation proved the effectiveness and feasibility of this method.