Mobile Robot Path Planning Using Modified Potential Field Method in Dynamic Environment
Guowan Shao · Machine Tool & Hydraulics · 2006
Based on a traditional potential field method,a modified potential field method was presented adapting to dynamic environment with moving target and moving obstacles.The relative velocity between the robot and the target was introduced to the attractive field function and early warning distance between the robot and the obstacle for collision avoidance was set up.So the problem of path planning of mobile robot was solved in dynamic environment with moving target.The simulation experiment shows that the method is effective.