Simulation Research on Path Planning Based on Dynamic Artificial Potential Field

Abstract

An improved construction method of artificial potential field was proposed based on the consideration that the goal, robot and obstacles in work space are all dynamic. The relative velocity and acceleration factors were brought into the potential functions. The virtual force acting on the robot drives it to move with the same position, velocity and acceleration with the goal, i.e. keep the same moving trend. So the robot can follow the goal dynamically. The simulation result based on MATLAB platform validates the effectiveness of the algorithm.