Dynamic obstacle-avoiding path plan for robots based on a new artificial potential field function

摘要

The artificial potential field is in the common use to plan the robot path.But if conic curve function is the model of attractive field,there is chattering phenomenon at target point.Based on the analysis of chattering cause,a new potential field function is presented by adding an exponential factor to the conic curve attractive function.It can eliminate singularity chattering in planning.Meanwhile,in order to achieve flexible control of distance between robot and obstacles,a parameter called sensitivity is introduced in the repulsive function.By adjusting the magnitude of the sensitivity,the deficiency that robot cannot reach its target inside the range of repulsion action in traditional potential field function can be avoided.Simulation results are given.