Optimized Path Planning of Mobile Robot Based on Artificial Potential Field

摘要

A method to solve the problem of goal nonreachable with obstacle nearby (GNRON) is proposed. The limitations of classical artificial potential field are GNRON and the chattering phenomenon when mobile robot moves near the obstacle or pass through the narrow space. The proper gain factor is selected to solve GNRON problem so as to make the robot reach the goal rapidly. The redundant points are eliminated using the tensing method and the smooth optimized path is gained using the symmetric polynomials in polar coordinates. The correctness and effectiveness are verified by the simulation.