Improved Artificial Potential Field Algorithm for Mobile Robot Obstacle Avoidance Path Planning
Jun-yu Ao · Science Technology and Engineering · 2011
Aims to solve difficult problems in mobile robot obstacle avoidance path planning based on improved artificial potential field(IAPF) algorithm,an obstacle boundary repulsion algorithm is designed to improve the performance of traditional artificial potential field algorithm for large obstacles.For the problem that robot,obstacle and target are located in the same line,a virtual sub-target gravity algorithm is proposed to ensure that the target is the global minimum of the robot potential field,and therefore the robot can arrive at the goal point.An obstacle isolation method is used for T-type obstacle situation which can solve the local minimum problem of potential field and help the robot go through quickly.Experiments are carried out by simulation to verify the effectiveness of the improved artificial potential field algorithm.