An Evolutionary Method of Traditional Artificial Potential Field

Shun Hong Wang; Jiu Fen Zhao; Le Fei Pan; Xin Xue Liu; Bei Zhang

doi:10.4028/www.scientific.net/AMM.198-199.1025

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On Aero Control Law Joined Compensatory PID for Glide down to Fixed Low Altitude System and Simulation Researches
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An Evolutionary Method of Traditional Artificial Potential Field
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 198-199An Evolutionary Method of Traditional Artificial...

An Evolutionary Method of Traditional Artificial Potential Field

Abstract:

The problems of goals non-reachable with obstacles nearby (GNRON) and dead lock caused by local minimum were described when using Artificial Potential Field (APF) methods for mobile robot path planning in complex environment. Considering the geometric relationship of different obstacles, the heuristic factor of virtual attractive forces was introduced to solve the local minimum problem. Simulation results indicate that the evolutionary method of APF can realize optimal path planning in complex environment, which makes up the disadvantages of traditional APF method.

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Periodical:

Applied Mechanics and Materials (Volumes 198-199)

Pages:

1025-1029

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.198-199.1025

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Online since:

September 2012

Authors:

Shun Hong Wang, Jiu Fen Zhao, Le Fei Pan, Xin Xue Liu, Bei Zhang

Keywords:

Artificial Potential Field (APF), Heuristic Factor, Path Planning, Virtual Attractive Forces

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