path-planning for robot based on modified artififial potential field function
Hu Zhi · Microcomputer Information · 2009
The artificial potential field is a common method of dynamic path-planning for mobile robot, but it brings problem, when it comes to discrete control, which gives great strike to the system and make robot ’s trace oscillate in disorder. This problem can be resolved by introducing softening factor. The system use pole assignment PID controller. For eliminating the influence caused by the varied parameters of the controlled object, a gradual fading-memory RLS is used to identify the parameters. The rule of controller is changed in real time. The simulation results show that : the performance of the modifede system is better than that of the unreformed system.