A modified artificial potential field algorithm for mobile robot path planning

A modified APF (artificial potential field) based method is proposed for mobile robot path planning. To address the local minima problem in the classical APF, a method composed of robot regression and potential field filling is proposed. Furthermore, by adjusting potential field in the environment d...

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Bibliographic Details
Published in2008 7th World Congress on Intelligent Control and Automation pp. 2603 - 2607
Main Authors Ningning Qi, Bojun Ma, Xian'en Liu, Zhenxin Zhang, Dongchun Ren
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2008
Subjects
Artificial neural networks
Automation
Collision avoidance
mobile robot
Mobile robots
Path planning
potential field
Real time systems
Robots
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Summary:A modified APF (artificial potential field) based method is proposed for mobile robot path planning. To address the local minima problem in the classical APF, a method composed of robot regression and potential field filling is proposed. Furthermore, by adjusting potential field in the environment dynamically, the collision problem is also well settled. Simulation experiments, in which eight sonar transmitters are supposed to be used for environment measurement, are carried out to verify the performance of the path planning method proposed in the paper. The simulation results show that the modified APF has a better performance than the classical APF in an unknown environment.
ISBN:1424421136
9781424421138
DOI:10.1109/WCICA.2008.4593333