Improved Artificial Potential Field Method for Mobile Robots Path Planning in a Corridor Environment
Yuanyuan Zhang · 2022 IEEE International Conference on Mechatronics and Automation (ICMA) · 2022
Road constraints at corridor corners are typical in mine environments, power inspections, and attraction navigation. However, artificial potential field (APF) algorithm research is mainly based on scattered distributed obstacles, and less attention has been paid to robot path planning in corridor environments by using the improved APF method. This paper proposes an improved APF (FV-APF) algorithm to address the local minimal and goal unattainability problems of the classic APF method in the corridor environment by considering the angle constraint and improving the potential field function while combining simple fuzzy ideas. The results show that the FV-APF algorithm can plan paths very well in the complicated cornering environment of the corridor.