Mobile Robot Path Planning Based on Improved Artificial Potential Field Method

2018 ◽  
Author(s):  
Wang Siming ◽  
Zhao Tiantian ◽  
Li Weijie
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Potential Field ◽  
Field Method ◽  
Artificial Potential Field ◽  
Robot Path Planning ◽  
Potential Field Method ◽  
Artificial Potential Field Method ◽  
Robot Path

scholarly journals An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot

2015 ◽  
Vol 15 (2) ◽  
pp. 181-191 ◽  
Author(s):  
Wenbai Chen ◽  
Xibao Wu ◽  
Yang Lu
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Potential Field ◽  
Field Method ◽  
Artificial Potential Field ◽  
Improved Method ◽  
Chaos Optimization ◽  
Potential Field Method ◽  
Artificial Potential Field Method ◽  
Robot Path

Abstract To solve the problem of local minima and unreachable destination of the traditional artificial potential field method in mobile robot path planning, chaos optimization is introduced to improve the artificial potential field method. The potential field function was adopted as a target function of chaos optimization, and a kind of “two-stage” chaos optimization was used. The corresponding movement step and direction of the robot were achieved by chaos search. Comparison of the improved method proposed in this paper and the traditional artificial potential field method is performed by simulation. The simulation results show that the improved method gets rid of the drawbacks, such as local minima and unreachable goal. Furthermore, the improved method is also verified by building up a physical platform based on “Future Star” robot. The success of the physical experiment indicates that the improved algorithm is feasible and efficient for mobile robot path planning.

Mobile Robot Path Planning Based on Artificial Potential Field Method

2014 ◽  
Vol 577 ◽  
pp. 350-353 ◽  
Author(s):  
Bao Feng Zhang ◽  
Ya Chun Wang ◽  
Xiao Ling Zhang
Keyword(s):  
Path Planning ◽  
Potential Field ◽  
Simulation Experiment ◽  
Field Method ◽  
Artificial Potential Field ◽  
Robot Path Planning ◽  
Combination Optimization ◽  
Potential Field Method ◽  
Artificial Potential Field Method ◽  
Robot Path

Various combination optimization algorithms have been designed to solve the problem of robot path planning, but every algorithm has some limitation. The artificial potential field method has superiorities in positive feedback, flexibility and collaboration, which convert it into adapt to the trend of path planning algorithms in the intelligent and bionic direction. Artificial potential field method is advanced in the environment of static grid in this paper. Then the feasibility and practicability of the algorithm are backed by a simulation experiment.

Path Planning of Mobile Robot Based on Improved Artificial Potential Field Method

2014 ◽  
Vol 644-650 ◽  
pp. 154-157 ◽  
Author(s):  
Su Ying Zhang ◽  
Yan Kai Shen ◽  
Wen Shuai Cui
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Potential Field ◽  
High Efficiency ◽  
Field Method ◽  
Artificial Potential Field ◽  
Local Minima ◽  
Potential Field Method ◽  
Smooth Path ◽  
Artificial Potential Field Method

The artificial potential field method has been extensively used in mobile robot path planning for its characteristics of simpleness, high efficiency, and smooth path. In this paper, to solve the problem of local minima in traditional artificial potential field method, A modified form of repulsion function is proposed. A detour force is added to the repulsion function, the problem of local minima can be solved effectively. In the end, with the help of Matlab software simulating, the result shows that this method is simple and effective.

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