Path planning algorithm for robot in known three-dimensional natural environment
Liang Jia-hai · Jisuanji gongcheng yu sheji · 2012
A path planning algorithm for robot is studied to improve the shortcomings of mobile robot path planning in three-dimensional natural environment.The artificial potential field(APF) is improved and a path planning algorithm is proposed.Firstly,the known three-dimensional environment is rasterized and running costs evaluation model for each grid is established.Secondly,repulsion field is established based on the grid running costs and gravitational field with target point at its centre,also a solution to the local minimum problem is proposed.Finally,we use the direction of the resultant force to plan a path with lower costs from starting point to the target.Simulation results show that the algorithm has lower operating costs,good adaptability and global property.