A Method for Solving Local Minimization Problem of Artificial Potential Field
LI Long-shu · Computer Technology and Development · 2007
It's extremely effective for path planning using artificial potential field(APF).While using APF in avoiding obstacle,it's easy to bring local minimum problem because of the limiting information of environment.A follow-wall is proposed for solving the problem.When the mobile robot enters into the region of local minimization,follow-wall begins to work.The mobile robot moves along the border of obstacle.It gets rid of local minimization rapidly.The simulated experiments show the feasibility of this method.It can avoid the mobile robot fall into local minimization for the limiting information.