AnEvolutionary Artificial Potential Field Algorithm for Dynamic PathPlanning ofMobile Robot CaoQixin, HuangYanwen, ZhouJingliang
Shanghai Jiao · 2006
Theartificial potential field (APF)methodiswidely usedforautonomous mobile robotpathplanning duetoitssim- plicity andmathematical elegance. However, mostresearches are focused onsolving thepath-planning problemina stationary environment, wherebothtargets andobstacles arestationary. Thispaperproposes a newAPF methodforpathplanning of mobilerobots inadynamicenvironment wherethetarget and obstacles aremoving. Firstly, thenew forcefunction andthe relative threat coefficient function aredefined. Then,anewAPF path-planning algorithm basedontherelative threat coefficient ispresented. Finally, computersimulation andexperiment are usedtodemonstrate theeffectiveness ofthedynamicpath- planning scheme.