A Mobile Robot Obstacle Avoidance Method Based on Improved Potential Field Method

Abstract

Proposing an obstacle avoidance method for mobile robot under unknown environment, which makes use of multiple ultrasonic sensors coordinating with each other and collects position information of obstacles followed by information fuzzy processing, applies artificial potential field method with improved potential function to project the travel path of the robot. It has solved the "deadlock" problem of the traditional artificial potential field method and achieved obstacle avoidance of mobile robot under unknown environment. By simulation analysis, robot obstacle avoidance can be implemented flexibly using this method.