Optimal motion planning for mobile robot based on potential fields
Lizhi Dong, Maoxiang Sun, Zaili Dong · 2003
The paper addresses motion planning for a mobile robot in a dynamic environment with multiple moving obstacles. A motion planning strategy based on potential field and optimal control theory is presented for mobile robots to solve the problem of navigation and obstacles avoidance. Simulation results are presented to show fine real-time property, avoid the obstacles effectively and almost arrive at the goal on time.