An Efficient Path Planning Algorithm for Mobile Robot Using Improved Potential Field

摘要：

Traditional APF-based mobile robot path planning approaches posses an inherent problem which is the formation of local minimum that probably prevent robot from arriving at the target. In view of those considerations, an improved potential field function is proposed to settle this problem. The new method includes an improved attractive potential function and an improved repulsive potential function. The attractive potential function takes into account the minimum separation between robot and obstacles, while the repulsive potential function takes into account the relative position between robot and the target. As a result, the target is ensured as the global minimum in working space. Simulation experiments are performed and the results demonstrate the effectiveness of the improved method.

作者: Pu Shi Yiwen Zhao

作者单位: Department of Automation Engineering Northeastern University at Qinhuangdao,Qinhuangdao,Hebei Provin State Key Laboratory of Robotics SIA,Chinese Academy of Sciences,Shenyang,Liaoning Province,110016,C

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1704-1708

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）