Path planning based on improved artificial potential field algorithm
The artificial potential field method is an algorithm suitable for local path planning.In response to the inherent defects by the artificial potential field method such as the unreachable targets and local minima,an improved artificial potential field method is proposed.Firstly,to ad-dress the issue of unreachable targets,the gravitational influence factor is added to the generation of the repulsive field,with the repulsive field function improved to avoid the situation where the combined force of gravity and repulsion is zero.For the problem of local minima,additional ex-ternal forces are introduced by setting virtual target points to break the balance problem of the ro-bot.Through comparative experiments with other algorithms,simulation results show that the improved artificial potential field method has shorter path length and consumption time and is of stronger stability.
artificial potential fieldpath planningpotential field functionvirtual target pointmobile robot
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