%0 Journal Article
%T 人工势场法改进领航跟随法的控制算法实现<br>Realization of Control Algorithm for Improved Pilot Following Method Based on Artificial Potential Field Method
%A 张瑞琳
%A 尹政
%A 王清珍
%J Artificial Intelligence and Robotics Research
%P 37-46
%@ 2326-3423
%D 2021
%I Hans Publishing
%R 10.12677/AIRR.2021.101004
%X 随着科技的发展，机器人发展日新月异，在当今时代，在工业、物流、医疗以及服务领域，都能看到机器人的身影，因为单个机器人功能的局限性，多机器人系统开始发展，多机器人编队避障问题成为研究热点。采用的研究方法主要是是实验法和文献研究法，主要通过查阅文献来获得思路，然后在MATLAB中仿真得到实验结果。研究的主要内容有人工势场法、领航跟随法、人工势场法改进领航跟随法实现过程中遇到的问题、在静态环境中运用人工势场法和领航跟随法使多个机器人协同合作完成编队和避障。实验结果在MATLAB仿真中实现，利用栅格法，对障碍物进行膨化处理，4个机器人从初始位置，初始队形，到达目标位置，在行进过程中遇到障碍物，遇到障碍物时队形发生变换，躲避障碍物后，队形再一次改变，整个过程中，领航者运动轨迹和跟随者不同，在领航者到达位置后，跟随者根据情况改变位置信息从而达到目标位置。<br />
With the development of science and technology, robots are developing rapidly. In today’s era, in the fields of industry, logistics, medical treatment and service, robots can be seen. Because of the limitations of single robot function, multi robot system begins to develop, and multi robot formation obstacle avoidance has become a research hotspot. The main research methods used are experi-ment method and literature research method, mainly through consulting literature to get ideas, and then in MATLAB simulation to get the experimental results. The main contents of the research include artificial potential field method, pilot following method, artificial potential field method to improve the problems encountered in the implementation process of pilot following method, and make multiple robots cooperate to complete formation and obstacle avoidance in static environ-ment by using artificial potential field method and pilot following method. The experimental results are realized in MATLAB simulation. The grid method is used to expand the obstacles. The four ro-bots move from the initial position, initial formation, to the target position. When they encounter obstacles, the formation changes when they encounter obstacles. After avoiding obstacles, the for-mation changes again. In the whole process, the movement track of the leader is different from that of the follower. After arriving at the location, the follower changes the location information to reach the target position.
%K 人工势场法，领航跟随法，MATLAB，编队避障<br>Artificial Potential Field Method
%K Pilot Following Method
%K MATLAB
%K Formation Obstacle Avoidance
%U http://www.hanspub.org/journal/PaperInformation.aspx?PaperID=40754