Mobile Robot Path Planning in Complicated Environment

摘要

The function of potential field in the traditional artificial potential field method only contains the position distance information, it can only deal with the path planning in static environment. By modifying the potential field, the velocity and acceleration information are introduced into the function of potential field to make the robot can avoid dynamic obstacle. In addition, taking into account the large number of static and dynamic obstacles in complex environment, A <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> algorithm is used to obtain the global sub-target points to guide the robot path planning. Simulation results show that the improved artificial potential field method can not only avoid dynamic obstacles but also get the optimized path.