Simulation study on mobile robot path planning based on improved potential field
Shan Bao-min · Information technology newsletter · 2014
The traditional artificial potential field method has the problem of Goals Nonreachable with Obstacle Nearby(GNRON) and local minimum.This paper adopts improved repulsive potential function for GNRON of potential field.For the problem of local minimum,it improves the method of adding random force and adopting the equipotential line method.The improved method optimizes the path of robot avoiding obstacles.The simulation also can prove the efficiency of the new changing in the APF.