Path Planning of Mobile Robot Based on Improved Artificial Potential Field Algorithm
Shili Zhao, Hong Mo, Aonan Yang · 2023
The energy of mobile robots is limited, and the energy consumption must be optimized during task execution. However, the classical artificial potential field method has the problem of path oscillation under certain conditions such as narrow channels, which leads to extra energy consumption. In order to reduce this energy consumption, the advantages and disadvantages of the artificial potential field method are first introduced, and it is proposed to add a fuzzy controller to reduce the degree of oscillation of the path generated by the traditional artificial potential field method. In the simulation experiment, the total rotation angle of the mobile robot decreases from 13875° to 359° after the fuzzy controller is added.