Path planning of mobile robot based on improved artificial potential field approach

摘要

To solve the path planning problems of mobile robot using traditional artificial potential field method,the corresponding improved methods were proposed.The method of narrowing the influence area of obstacles was applied to deal with the problem caused by the obstacles in the vicinity of the goal,which made the goal point unreachable.In addition,the hierarchical thinking of obstacle influencing scope was proposed to help the robot escape from the local minimum point to successfully reach the goal point.The improved potential field approach is applicable to path planning of mobile robot in complicated environment and it looks for the optimization path.The effectiveness of this improved approach is verified by simulation results.