Mobile Robots Path Planning Based on Improved Artificial Potential Field

Abstract

In order to solve the problem of unreachable target of robot in path planning, the repulsive field function is improved to solve the problem of excessive repulsive force of obstacles around the target point In order to solve the problem that robots are prone to fall into local minima, firstly, whether the robot falls into local minima is determined according to the judgment conditions. If the robot falls into local minima, the velocity variable is introduced to provide escape velocity for the robot. After judging that the robot escapes from local minima, the potential field is used again for path planning According to the complexity of obstacles, an adaptive step adjustment method is proposed to improve the efficiency of the robot and smooth the path planning, so that the robot can move forward smoothly and efficiently. Finally, MATLAB is used to carry out simulation experiments, and the results prove the effectiveness of this method.