Path planning by using region potential field switch method
Deyin Huang · Dalian Ligong Daxue xuebao · 2016
To solve the path planning failure of improved artificial potential field(APF)method in application,a region potential field switch method(RPFSM)is proposed.It includes the map definition and algorithm design.Firstly,the different shape obstacles on the map are defined by classifications,then the smallest cell which includes the absolute defence zone and buffer zone is set.Based on the improved APF method the algorithm is redesigned at different zones.The redesigned algorithm makes the robots only receiving repulsion in the absolute defence zone,both repulsion and attraction in the buffer zone and only attraction outside the buffer zone.Thus,it can make the robot arrive at the aim very fast and avoid obstacles successfully.The reliability of the proposed method is testified by the Matlab simulation experiments using respectively the improved APF method and the RPFSM in the defined map.