Robot motion planning based on improved artificial potential field

摘要

The path planning is one of the key technologies of mobile robot field, which is also the one of the key technologies of intelligent robotics. As the mobile robot path planning is one of the most important and basic problem, path planning of robot has solved the robot movement question in the environment. This paper studies the method of robot path planning-artificial potential field method, which is the most mature, the most stable. In the traditional research of the robot path planning, the target is stationary, but in this paper research object is the mobile robot. So the traditional artificial potential field method is not adapted to this paper. This paper puts forward an improved artificial potential field method based on the traditional artificial potential field method, which can make the robots avoid obstacles while locate and track dynamic target. Finally, the simulation experiment shows the effectiveness of the improved artificial potential field method.