A Method for Solving Local Minimum Problem of Path Planning Based on Potential Field in Complex Environments

摘要

The local minimum problem of path planning based on potential field has attracted attention for many years.For the innate limitations of potential field,an improved method for moblie robot path planning is proposed in this paper.In this method,expansion and erosion algorithms are used to pretreat and optimize the workspace of robot and improved potential field is used to navigate robot.Furthermore,sub-goal point is set for robot to get rid of local minimization rapidly.The simulation results indicate that this method is effective to solve local minimum problem for robot path planning in complex environments.