Path-Planning for Mobile Robot Based on Artificial Force Filed
Zhixin Duan · 2007
The paper presents an Artificial Force Functions(AFF)approach for mobile robot path planning to overcome some typical problems that may arise with the conventional Artificial Potential Functions(APF).This method introduces the relative position between the robot and the goal into repulsive function.The repulsive function is composed of two parts:one's direction is tangency with the control area of the obstacle and the angle between gravitation and repulsive is less than 90 degree while the other's direction is consistent with the gravitation.In doing so,the AFF attempts to overcome some typical problems that may arise with the conventional APF.Specifically,it can avoid local minima for three representative scenarios.Simulation results of the example with MATLAB show that the proposed mehtod can effectively construct a path-planning system with the capability of reaching a goal and avoiding obstacles.