Global path planning for mobile robot based on improved artificial potential function

There is a major problem with traditional artificial potential field method. It is the formation of local minima that can trap the robot before reaching its goal. To overcome the problem, this paper presents an improved potential field approach. It consists of two parts. The former, the improved att...

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Bibliographic Details
Published in2009 IEEE International Conference on Automation and Logistics pp. 1900 - 1904
Main Authors Pu Shi, Yiwen Zhao
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2009
Subjects
Artificial potential functions
Legged locomotion
Logistics
Mobile robot
Mobile robots
Motion planning
Navigation
Optimization methods
Orbital robotics
Path planning
Physics
Robotics and automation
Unreachable goal
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ISBN9781424447947
1424447941
ISSN2161-8151
DOI10.1109/ICAL.2009.5262656

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Summary:There is a major problem with traditional artificial potential field method. It is the formation of local minima that can trap the robot before reaching its goal. To overcome the problem, this paper presents an improved potential field approach. It consists of two parts. The former, the improved attractive potential function, brings the minimum distance between the robot and the obstacle into consideration, and the latter, the improved repulsive potential function, includes the relative position between the robot and the target. These ensure the target is the global minimum of the artificial potential function. The simulation experiment is made under the VC++ 6.0 environment. Experimental results show that the improved approach has much higher capacity of global optimization than traditional method.
ISBN:9781424447947
1424447941
ISSN:2161-8151
DOI:10.1109/ICAL.2009.5262656