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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Hauptverfasser:	Ningning Qi, Bojun Ma, Xian'en Liu, Zhenxin Zhang, Dongchun Ren
Format:	Tagungsbericht
Sprache:	chi ; eng
Schlagworte:	Artificial neural networks Automation Collision avoidance mobile robot Mobile robots Path planning potential field Real time systems Robots
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creator	Ningning Qi Bojun Ma Xian'en Liu Zhenxin Zhang Dongchun Ren
description	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.
doi_str_mv	10.1109/WCICA.2008.4593333
format	Conference Proceeding
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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.</abstract><pub>IEEE</pub><doi>10.1109/WCICA.2008.4593333</doi><tpages>5</tpages></addata></record>
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identifier	ISBN: 1424421136
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language	chi ; eng
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source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Artificial neural networks Automation Collision avoidance mobile robot Mobile robots Path planning potential field Real time systems Robots
title	A modified artificial potential field algorithm for mobile robot path planning
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