基于虚拟势场算法的避障算法设计

薇好 陈(广州商学院，中国;)
静 赵(广东机电职业技术学院，中国;)

摘要

矿难频繁发生，矿井救援机器人在搜救时发挥了关键作用，因此，研发先进的智能设备和优化控制算法至关重要。本文旨在开发一种结合强化学习和虚拟势场算法的矿用救援机器人避障系统，目标是实现智能路径规划，提升救援机器人的避障能力。在矿难发生的情况下，这种机器人可以深入复杂且不断变化的未知环境中，自主避开障碍物并规划最佳路径，收集未知环境的相关信息，从而帮助救援团队在关键的救援时间内完成任务。仿真实验结果表明，该系统融合了强化学习和虚拟势场算法，两算法互补，使得机器人在路劲规划和避障搜索中，性能较好，同时可行性较高。

关键词

强化学习；路径规划；虚拟势场；避障

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DOI: http://dx.doi.org/10.12345/bdai.v7i2.37652