Path Planning of Mobile Robot Using New Potential Field Method in Dynamic Environments

摘要：

The potential field method is widely used for autonomous mobile robot path planning. However, most potential field methods are designed to be applied in the stationary environment. In this paper, an improved potential field method is proposed for automatic mobile robot path planning in a dynamic environment. Improved method takes the position, the velocity, the acceleration and the physical size of the robot into account, and the relative factor of the distance and the acceleration is introduced in the potential function. The simulation result proves the effecieness of this method.

关键词： path planning potential field dynamic motion planning mobile robot

作者: Liu Chuan-ling Tang Jing yangjing-yu

作者单位: Dept. of Computer, Shangqiu Vocational and Technical College,Shangqiu Henan 476100,shangqiu, China School of Computer Science Nanjing University of Science and Technology Nanjing 210094,Nanjing,China

会议类型: 国际会议

会议名称: 2011 Seventh International Conference on Natural Computation(第七届自然计算国际会议 ICNC 2011)

会议地点: 上海

会议语种:英文

页码: 1028-1031

在线出版日期: 2011-07-26（万方平台首次上网日期，不代表论文的发表时间）