An obstacle avoidance strategy for complex obstacles based on artificial potential field method

• Published in: Journal of field robotics Vol. 40; no. 5; pp. 1231 - 1244
• Main Authors: Zhang, Wei, Xu, Guojun, Song, Yan, Wang, Yagang
• Format: Journal Article
• Language: English
• Published: Hoboken Wiley Subscription Services, Inc 01.08.2023
• Subjects: Algorithms; artificial potential field method; back virtual obstacle setting strategy; local oscillation; mobile robot; Obstacle avoidance; Potential fields; Robots

When there are obstacles around the target point, the mobile robot cannot reach the target using the traditional artificial potential field (APF). Besides, the traditional APF is prone to local oscillation in complex terrain such as three‐point collinear or semiclosed obstacles. Aiming at solving th...