REAL TIME MOTION PLANNING FOR MOBILE ROBOT IN DYNA ENVIRONMENT USING POTENTIAL FIELD METHOD
M algamal · The Egyptian International Journal of Engineering Sciences and Technology · 2004
r/fe potential field method is widely used for autonomous mobile robot path plamitig due to its elegant mathematical analysis and simplicity. However, most researches are focused on solving the motion planning problem in a stationary environment, where both target and obstacles are stationary. This paper proposes a potentialfield methodfor motion planning ofmobile whot in a dynamic environment where the target and obstacles are moving. Firstly, the proposed potential function and the corresponding virtualforce are defined. Then, an online motion planning algorithm based on the proposed potential field method is presented. Finally, computer simulation is used to demonstrate the effectiveness of the dynamic motion planning scheme based on the proposed potentialfield method.