Path Planning for Intelligent Vehicle Based on Artificial Potential Field Method
Baojuan Wang · 2015
When artificial potential field method has been applied to resolve path planning problem for mobile robot,certain local extremums will appear easily,which inevitably causes the target located near the obstacle inaccessibly. A new strategy was introduced. Using geometric approach in local extremums point to design a better obstacle avoidance path which helps to escape from local minima areas in short time. Simulation results achieved in many obstacles environment proves that this alternative solution can be more effective by compared with artificial potential field and edge detection method.