New Robot Planning Algorithm Based on Improved Artificial Potential Field

摘要

The artificial potential field is one of the most popular algorithms in the robot path planning. The algorithm's structure is simple and the algorithm implement quite easily. However, the traditional artificial potential field algorithm have a local minimum problem, which can trap mobile robots before reaching its goal. Meanwhile, as there are some obstacles near the goal point, the repulsive force from the obstacles is far greater than attractive force from the goal, which will lead to that the robot also can't reach the goal position. To cope with these problems, a path planning algorithm based on improved artificial potential field was proposed. By redefined the gravitational force function and the repulsive force function, the kinetic characteristic of robot in the artificial potential field were analyzed and the problems described as above were overcome. At last, the result of simulation verifies the efficiency of this improved algorithm.