Improved Path Planning Algorithm based on Fuzzy Control combining A* Artificial Potential Field Method
Ping Zhou, Di Wu, Yan Xiang He, Yan Pan · 2022 34th Chinese Control and Decision Conference (CCDC) · 2022
In view of solving path planning problem of Automated Guided Vehicle (AGV), this paper proposes an A* artificial potential field method (AAPF), which can generate a safe and feasible path. The global path points of AAPF are generated by A* algorithm and saved. These points will have a gravitational force on the AGV and a repulsive force on the obstacles, and the resultant force will make the AGV go to the target point. AAPF will fall into the local minimum. This paper uses fuzzy control to give AGV an auxiliary force when the obstacle avoidance algorithm falls into the local minimum to help AGV escape from the local minimum. Experiments show that the obtained path combines the advantages of method. Compared with the traditional A* algorithm and the algorithm mentioned in the literature, AAPF can achieve a better solution in a shorter time.