CAJ | 학술논문

针对传统人工势场法在路径规划中容易出现局部极小点、障碍物前抖动、路径非最优等问题，提出了一种新的基于双层递阶模糊系统的人工势场法移动机器人路径规划方法。此方法通过一阶模糊系统来调整人工势场中斥力函数的斥力增益系数，使斥力的大小实时随环境的改变而改变；通过二阶模糊系统来改变斥力的方向，进而改变合力信息。仿真实验结果表明：该方法能使机器人快速地摆脱局部最小点，避免障碍物前抖动，并且达到优化路径的目的。
침대전통인공세장법재로경규화중용역출현국부겁소점、장애물전두동、로경비최우등문제，제출료일충신적기우쌍층체계모호계통적인공세장법이동궤기인로경규화방법。차방법통과일계모호계통래조정인공세장중척력함수적척력증익계수，사척력적대소실시수배경적개변이개변；통과이계모호계통래개변척력적방향，진이개변합력신식。방진실험결과표명：해방법능사궤기인쾌속지파탈국부최소점，피면장애물전두동，병차체도우화로경적목적。
In view of the problems of a local minimum point value, oscillation in front of a barrier and non optimal path in path planning in traditional artificial potential field, a new robot path planning of artificial potential field method is presented based on double-deck hierarchical fuzzy system. A repulsive gain factor is introduced to improve the repulsive potential function by the first level fuzzy logical system, then the repulsive force function is improved with the changed environment. The repulsive force vector is adjusted to optimizing the robot path, which is adjusted by the second level fuzzy logical system. The simulation results show that the proposed method can solve the local minimum problem effectively, avoid oscillation, and plan a smooth path successfully.