Application of Adapted Weighted Graphs for Solving the Problem of Flat-Trajectory Planning by the Potential Fields Method
Igor Vladimirovich Karpasyuk · Scientific and Technical Information Processing · 2022
Abstract In this paper, we consider the problem of mobile-robot path planning. We present features of the potential fields method, which allows constructing a near-optimal trajectory of movement in an environment with obstacles. The working environment of a mobile robot is described by a weighted graph. The construction of a Cartesian graph with a vertex modification for a given vertex graph is demonstrated. A potential attracting field is modeled on the vertex modification of the Cartesian graph corresponding to the original weighted graph. An algorithm for weight adjustment in the vertex modification of a weighted graph is developed to create the attractive effect in the model of the robot working zone. An algorithm for finding a locally optimal path on an adapted weighted graph is presented; this algorithm is developed using the potential fields method.