Robot Obstacle Avoidance Based on Improved Artificial Potential Field Method

Abstract

Robot avoiding obstacles is a prerequisite for the robot to complete the specified tasks. In order to solve the shortcomings of the traditional artificial potential field method, this paper proposes an improvement plan to establish a new repulsive force function to change the direction of repulsive force to avoid the problems of unreachable target points and local minimum points. Finally, simulation experiments results that the improved artificial potential field method has strong robustness in the face of complex and dynamic scenes, and can reach the target point smoothly.