Mobile robot path planning based on hierarchical hexagonal decomposition and artificial potential fields

Abstract

Abstract In this article, a new algorithm based on an artificial potential field and hierarchical cell decomposition technique is developed to solve the find‐path problem for a mobile robot. The complete map of the workspace including obstacle locations is assumed to be known a priori. The basic cell structure used for decomposition is a hexagon. The artificial potential field is based on an attractive force from the goal position and repelling forces from the obstacles. Computer simulations of the algorithm for various obstacle scenarios are also presented. © 1994 John Wiley & Sons, Inc.