Mobile robot path planning integrating TangentBug algorithm and artificial potential field method
In view of the local minimum problem encountered when applying the artificial potential field method for path plan-ning,the proposed solution is to fuse the TangentBug algorithm to deal with it.The fusion algorithm applies the artificial potential field method again for path planning after applying the TangentBug algorithm to climb over obstacles,making the fusion algorithm more effective in obstacle avoidance than the traditional virtual target point method and the traditional TangentBug algorithm.After simulation,it has been verified that the fusion algorithm has improved the efficiency by at least 77.68%and 10.79%in time and path smoothness respectively compared with the traditional TangentBug algorithm,and is more successful and more effective than the traditional virtual target point method in path planning.
artificial potential field methodlocal minimumTangentBug algorithmfusion algorithm
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