Path Planning for Robot Based on Improved Artificial Potential Field
- 10.2991/mmme-16.2016.199How to use a DOI?
- artificial potential field, formula factors, virtual target point, path planning
Aiming at the disadvantages of the traditional artificial potential field method, target is not reachable and the robot is easy to fall into local minimum point, the paper proposes an improved potential field function of arti-ficial potential field, a formula factor is added to the repulsive force field function, with the closer the dis-tance from the target point, the value of the factor decreases to zero, it can solve the defect of the target inac-cessible, at the same time, In order to prevent robots from shocks and trapped in local minima, the paper adds the virtual target point in a small range from the target point to increase the attractiveness of the robot point to the target, so that the robot complete path planning, simulation results proved that the method is feasible and effective.
- © 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 - Guoqing Qiu AU - Ting Niu AU - Qianqian Kou AU - Cheng Liu PY - 2016/10 DA - 2016/10 TI - Path Planning for Robot Based on Improved Artificial Potential Field BT - Proceedings of the 2016 4th International Conference on Mechanical Materials and Manufacturing Engineering PB - Atlantis Press SN - 2352-5401 UR - https://doi.org/10.2991/mmme-16.2016.199 DO - 10.2991/mmme-16.2016.199 ID - Qiu2016/10 ER -