| Popis: |
In order to make the trajectories of robot more close to the actual situation, and make the robot avoid obstacles which are very close to the target point to arrive at the target, in this paper the robot's path optimization in the 3-D space force field have been studied. By using the method of artificial potential field, the traditional artificial potential field theory will be improved. By adding an adjustment factor, a new repulsive force field function has been constructed, and the robot's motion trajectories will be extended to three-dimensional space. Simulating the trajectory planning through the platform of Matlab software, the simulation results show that robots can avoid obstacles effectively and arrive at the target quickly under the method of the improved artificial potential field, even if the obstacle and target is very close. |
