Novel potential field model and its application in real-time motion planning
Naijian Chen · Jisuanji gongcheng yu sheji · 2009
To solve the real-time motion planning for robot in complicated environments,a novel potential field model of position and velocity is built,and a new adaptive potential field method is proposed with the parameters of relative position and velocity among robot and dynamic obstacles.The local minima is solved by changing algorithm parameter value and restricting disturbance.The experimental results show that the robot can avoid dynamic obstacles actively,break away dynamic obstacles quickly and plan smooth path.The pro-posed method can solve the problem of path planning well in unknown dynamic environments.