Proceedings of the 2nd International Conference on Advances in Mechanical Engineering and Industrial Informatics (AMEII 2016)

Research of Robot Path Planning Based on Improved Artificial Potential Field

Authors
Yun Du, Yanya Nan
Corresponding Author
Yun Du
Available Online April 2016.
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/).

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Volume Title
Proceedings of the 2nd International Conference on Advances in Mechanical Engineering and Industrial Informatics (AMEII 2016)
Series
Advances in Engineering Research
Publication Date
April 2016
ISBN
10.2991/ameii-16.2016.195
ISSN
2352-5401
DOI
10.2991/ameii-16.2016.195How to use a DOI?
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  -