A novel potential field method for path planning of mobile robot

摘要

This paper presents a novel artificial potential field method for path planning of mobile robot. On the basis of analyzing traditional artificial potential field method local minimum problems, which cause failure of path planning, a potential field energy minimum path is created directly by placing dummy goals. Assuming that the path consists of many small pieces, every small piece is called a path factor. Coordinate of each path factor can be obtained by solving a set of equations. Each point on the path will be the potential energy minimum. Robots head to the goal along the position of each path factor. This new method solves the local minimum problem, as well as the destination unreachable problem and the oscillatory movement problem. The simulation results show that the new method proposed is correct and effective.