THE IMPROVED POTENTIAL GRID METHOD IN ROBOT PATH PLANNING

摘要：

Based on the character of a flow of water, this paper proposes a new path planning method using potential grid method. The initial position of the robot is assumed as an artificial headstream, and then the artificial stream flows from the high potential field to the low. When the artificial stream flows to the target position, the track of the artificial stream forms a feasible obstacle avoiding trajectory. Then, the algorithm for constructing obstacle avoiding trajectory is described. And this method has been simulation in long wall, recursive U-shaped, unstructured, cluttered, and maze-like environment. The results indicate that this method can overcome the main drawbacks of the “traditional approaches belonging to the potential field method in general and grid method, and show that it is feasible and effective in path planning.

关键词： Path planning Grid Potential field Simulation Obstacle avoiding trajectory

作者: LI Chunshu LU Haifeng CUI Genqun

作者单位: The School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China

会议类型: 国际会议

会议名称: International Technology and Innovation Conference 2009(2009技术与创新国际学术会议)

会议地点: 西安

会议语种:英文

页码: 1-5

在线出版日期: 2009-10-12（万方平台首次上网日期，不代表论文的发表时间）