摘要
人工势场法是一种常用的具有算法简单和便于实时控制的局部路径规划方法,但存在容易产生局部极小值的问题。基于模糊逻辑的局部路径规划法具有环境适应性强等优点,它在连续论域内采用模糊路径规划时,计算量比较大。提出了一种将人工势场法和模糊逻辑法相结合进行局部路径规划的混合算法。具体方法是在一般情况下采用人工势场法进行局部路径规划,当产生局部极小值时,采用模糊逻辑法进行局部路径规划。仿真结果表明,该方法能有效地解决局部极小值问题,给智能车规划出光滑的路径。
Artificial potential field method is a common method in local path planning. This arithmetic is easy to realize and ideal for real time control. But the local minimum occurs easily when intelligent vehicle plans a path with the traditional artificial potential field method. The local path planning method based on fuzzy logic has perfect adaptability to environment, but the arithmetic is complex. This paper combines artificial potential field method with fuzzy logic method to plan local path. Normally, artif...
出处
《装甲兵工程学院学报》
2008年第2期43-45,共3页
Journal of Academy of Armored Force Engineering
关键词
人工势场法
模糊逻辑
智能车
局部路径规划
artificial potential field
fuzzy logic algorithm
intelligent vehicle
local path planning
