Simulation study on mobile robot path planning based on potential field

摘要

This paper adopts improved repulsive potential function for Goals Nonreachable with Obstacles Nearby(GNRON) of potential field,the new repulsive potential function considers the relative distance between the robot and the goal which ensures the goal is the global minimum of the whole potential field,so the robot can reach the goal freely.This paper also proposes a method of adding guiding point for trap situations due to local minima,so the robot can get out the trap situations quickly and move to the goal.Robot rambling in restrictive region is also realized in simulation.The improved algorithm is adaptable to path planning of robots in complex environment.The effectiveness of this method is verified by simulation results.