Application of the Improved Artificial Potential Field Method in Obstacle Avoidance of Robot

摘要

Aiming at the problem that the artificial potential field method is easy to fall into the local minimum and the target unreachable in the process of obstacle avoidance of robot path planning, a fixed path artificial potential field method is proposed. The algorithm first improves the repulsive field function on the basis of the artificial potential field method and then presents a new method of path planning. When the robot moves to a certain range near the obstacle, let it take the obstacle as the center of the robot to the obstacle distance for the radius to do circular motion. After moving the 1/2 circle, let the robot move in the direction of resultant force. In the simulation experiment, the algorithm can effectively avoid the problem of local minimum and improve the efficiency of the algorithm while solving the problem of unreachable target.