Study of the New Method for Improving Artifical Potential Field in Mobile Robot Obstacle Avoidance

摘要

Analyzing of the disadvantage of artificial potential field (APF) for mobile robot obstacle avoidance, local trap and vibrating, a new method for improving artificial potential field was proposed in this paper. A new force function was built and the simulation was done. It was approved from the simulation result that local trap was eliminated effectively and vibrating was mitigated but not eliminated through adjusting the parameters of the functions. Referencing to man driving car, the potential force area of mobile robot obstacle avoidance was limited and adjusted at any moment. The problem of mobile robot obstacle avoidance based-on APF was eliminated and the rapidness of arriving at the target was improved by this method.