3D Path planning of fixed and mobile environments using potential field algorithm with Genetic algorithm

摘要

Path planning is one of the most important techniques responsible for drawing a collision-free path for each robot in a crowded environment. Potential field algorithm is one of most fame algorithms of path planning, it works online. The potential field algorithm deals with any robot as an electron in a potential field. This robot or electron attract to the goal location and repulsion from other robots and obstacles. These forces cause it to move naturally to the target point with a suboptimal path. In this paper, we study and simulate multi scenarios of potential field algorithm in both cases which are: static and dynamic 3D environments. In the static environment, we suppose many static obstacles in random positions then find suboptimal path according to this algorithm. The second scenarios based on the existence of multiple mobile robots. The straight line path of each robot collides at least with the one other path. This algorithm used to solve this problem and find a collision-free path for each robot.