基于D-S理论和改进势场法的路径规划算法

来源期刊:中南大学学报(自然科学版)2011年第z2期

论文作者:王随平 桂卫华 潘天国

文章页码:341 - 346

关键词:集矿机;路径规划;D-S理论;改进势场法

Key words:mining machine; path planning; D-S theory; improved potential field

摘    要:提出基于D-S理论和改进势场法相结合的路径规划算法。采用多个声纳传感器探测环境,将多个声纳传感器探测到的环境信息,利用不确定性证据推理D-S理论进行数据融合,得到较准确的环境信息。在此基础上,运用改进的势场法来实现集矿机导航与避障,克服人工势场法中目标点附近有障碍物时不可达的缺点。用VC开发平台对2种算法进行仿真,仿真结果验证了算法的有效性。

Abstract: A path-planning algorithm based on D-S theory and improved artificial potenial field was presented. The environment information was detected by multi-sonar sensors and was fused by D-S theory for acquiring more precision environment information. The navigation and obstacle-avoidance were realized by using improved artificial potential field. The problem that the vehicle can not reach the planning goal position when some obstacles exist near it is solved. The simulation and experiment were carried out using the developing platform VC and experiment system. The effectiveness of these two methods was verified by the simulating results.

基金信息:国际海底区域研究开发“十五”项目
国家自然科学基金资助项目

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