The improved potential grid method in robot path planning

摘要

Based on the character of a flow of water, this paper proposes a new path planning method using potential grid method. The initial position of the robot is assumed as an artificial headstream, and then the artificial stream flows from the high potential field to the low. When the artificial stream flows to the target position, the track of the artificial stream forms a feasible obstacle avoiding trajectory. Then, the algorithm for constructing obstacle avoiding trajectory is described. And this method has been simulation in long wall, recursive U-shaped, unstructured, cluttered, and maze-like environment. The results indicate that this method can overcome the main drawbacks of the traditional approaches belonging to the potential field method in general and grid method, and show that it is feasible and effective in path planning. (5 pages)