Simulation research for mobile robot path planning based on improved artificial potential field method recommended by the AsiaSim  

作　　者：Pengqi Hou Hu Pan Chen Guo 

机构地区：[1]School of Information Science and Technology Dalian Maritime University,P.R.China

出　　处：《International Journal of Modeling, Simulation, and Scientific Computing》2017年第2期241-254,共14页建模、仿真和科学计算国际期刊（英文）

基　　金：the National Nature Science Foundation of China(Nos.51579024,61374114);the Fundamental Research Funds for the Central Universities(DMU No.3132016311).

摘　　要：Mobile robot path planning is an important research branch in the field of mobile robots.The main disadvantage of the traditional artificial potential field(APF)method is prone to local minima problems.Improved artificial potential field(IAPF)method is presented in this paper to solve the problem in the traditional APF method for robot path planning in different conditions.We introduce the distance between the robot and the target point to the function of the original repulsive force field and change the original direction of the repulsive force to avoid the trap problem caused by the local minimum point.The IAPF method is suitable for mobile robot path planning in the complicated environment.Simulation and experiment results at the robot platform illustrated the superiority of the modified IAPF method.

关 键 词：Artificial potential field method mobile robot path planning local minimum point simulation. 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]