Online Path Planning of Mobile Robots Based On Elliptic Influence Domain and Improved Artificial Potential Field
Yufeng He, Xiang Luo, Long Li, Yingchang Duan, Xingjing Zhao · 2019
In this paper, an elliptic influence domain and improved artificial potential field method (EID-IAPF) is proposed for online path planning of mobile robots. This paper has established a collision risk area model and has obtained dynamical elliptic influence domain of obstacles. Also, the velocity-repulsive potential equation is introduced to modify the traditional artificial potential field method (APF), which improves the capacity of path planning of the robots. Finally, a simulation of complex environment with narrow channels is constructed to verify the feasibility of the method, and to compare with the traditional APF. It proves that EID-IAPF can effectively improve the path planning efficiency of mobile robots.