Mobile robot based on artificial potential field method Path planning method research

Xinru Xiao; Wei Tian

doi:10.1117/12.3007127

25 October 2023 Mobile robot based on artificial potential field method Path planning method research

Xinru Xiao, Wei Tian

Proceedings Volume 12801, Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023); 128015K (2023) https://doi.org/10.1117/12.3007127
Event: Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023), 2023, Dalian, China

Abstract

In robot local path planning, the traditional artificial potential field method is a simple and feasible algorithm. However, it suffers from issues of target unreachability and local minima. To address the problem of target unreachability, we introduce the distance term between the mobile robot and the target point in the repulsive function model, gradually reducing the influence of the repulsive potential field on the robot's movement towards the target point. To mitigate the issue of local minima, we employ the methods of repulsive angle deflection and virtual target points. Subsequently, we conduct experimental simulations using MATLAB, which yield results consistent with the analysis. The introduction of the distance between the robot and the target in the repulsive force function effectively solves the problem of target unreachability. Additionally, the issue of local minima can be overcome through the application of repulsive force angle deflection and virtual target points.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xinru Xiao and Wei Tian "Mobile robot based on artificial potential field method Path planning method research", Proc. SPIE 12801, Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023), 128015K (25 October 2023); https://doi.org/10.1117/12.3007127

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