Path planning of mobile robot using new potential field method in dynamic environments

摘要

The potential field method is widely used for autonomous mobile robot path planning. However, most potential field methods are designed to be applied in the stationary environment. In this paper, an improved potential field method is proposed for automatic mobile robot path planning in a dynamic environment. Improved method takes the position, the velocity, the acceleration and the physical size of the robot into account, and the relative factor of the distance and the acceleration is introduced in the potential function. The simulation result proves the effectiveness of this method.