Path Planning Research for Mobile Robot Based on Artificial Potential Field

Abstract

To the problems of the goal unreachable in path planning of mobile robot with artificial potential field,oscillation in front of a barrier and existence of a local minimum point value,and through analyzing the causes of oscillation and existence of a local minimum point value,a method based on model of artificial potential field and selection of parameters of potential field model by QPSO were proposed.The defects of potential field model were solved and the path was optimized.Simulation result shows the proposed method can effectively improve the performance of path planning.