Research of Robot Path Planning Based on Improved Artificial Potential Field
- DOI
- 10.2991/ameii-16.2016.195How to use a DOI?
- Keywords
- Mobile robot, Path planning, Artificial potential field, Local minimum
- Abstract
Though the artificial potential field applying to the path planning of mobile robot has the advantages of rapid respondent speed, small computation and real-time property, there are still problems such as the goal unreachable and existence of a local minimum point value, thus the improved artificial potential field is proposed in this paper. Considering the relative distance between the robot and the goal the improved algorithm adopts the improved potential function to make sure that the goal is the global minimum of the whole potential field. The repulsion direction is modified to avoid the robot suffers into local minimum, so the robot can reach the goal freely. The simulation results show that the robot can get a smooth and no touching optimal path in the environment of many obstacles. The effectiveness of the improved algorithm is verified.
- Copyright
- © 2016, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Yun Du AU - Yanya Nan PY - 2016/04 DA - 2016/04 TI - Research of Robot Path Planning Based on Improved Artificial Potential Field BT - Proceedings of the 2nd International Conference on Advances in Mechanical Engineering and Industrial Informatics (AMEII 2016) PB - Atlantis Press SP - 1024 EP - 1029 SN - 2352-5401 UR - https://doi.org/10.2991/ameii-16.2016.195 DO - 10.2991/ameii-16.2016.195 ID - Du2016/04 ER -