Path Planning of Mobile Robot Based on Improved Artificial Potential Field Method

Abstract:

The artificial potential field method has been extensively used in mobile robot path planning for its characteristics of simpleness, high efficiency, and smooth path. In this paper, to solve the problem of local minima in traditional artificial potential field method, A modified form of repulsion function is proposed. A detour force is added to the repulsion function, the problem of local minima can be solved effectively. In the end, with the help of Matlab software simulating, the result shows that this method is simple and effective.

• Periodical: Applied Mechanics and Materials (Volumes 644-650)
• Pages: 154-157
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.644-650.154
• Online since: September 2014
• Authors: Su Ying Zhang*, Yan Kai Shen, Wen Shuai Cui
• Keywords: Artificial Potential Field Method, Local Minima, Mobile Robot, Path Planning

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