Application of Robot Path Planning Based on Artificial Potential Field Method
LI Bing-d · Microprocessors · 2014
The paper presents an artificial potential field method based on angular deflection to overcome local minimum problem in traditional artificial potential field. Because the issue that the mobile robot can not reach the goal in the traditional artificial potential field method,the paper presents a new repulsive potential function considering the relative distance between the robot and the goal to make robot reach the goal. As for local minimum problem when resultant force is zero,the paper presents angular deflection to overcome the failure of path planning,at the same time,the robot are successfully planning a smooth path without collision. The simulation results prove the effectiveness of this method.