An Evolutionary Artificial Potential Field Algorithm for Dynamic Path Planning of Mobile Robot

摘要

The artificial potential field (APF) method is widely used for autonomous mobile robot path-planning due to its simplicity and mathematical elegance. However, most researches are focused on solving the path-planning problem in a stationary environment, where both targets and obstacles are stationary. This paper proposes a new APF method for path-planning of mobile robots in a dynamic environment where the target and obstacles are moving. First, the new force function and the relative threat coefficient function are defined. Then, a new APF path-planning algorithm based on the relative threat coefficient is presented. Finally, computer simulation and experiment are used to demonstrate the effectiveness of the dynamic path-planning scheme