An efficient path planning algorithm for mobile robot using improved potential field

Authors:
Pu Shi;Yiwen Zhao
Affiliations:
Department of Automation Engineering, Northeastern University at Qinhuangdao, Qinhuangdao, Hebei Province, China;State Key Laboratory of Robotics, SIA, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

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Abstract

Traditional APF-based mobile robot path planning approaches posses an inherent problem which is the formation of local minimum that probably prevent robot from arriving at the target. In view of those considerations, an improved potential field function is proposed to settle this problem. The new method includes an improved attractive potential function and an improved repulsive potential function. The attractive potential function takes into account the minimum separation between robot and obstacles, while the repulsive potential function takes into account the relative position between robot and the target. As a result, the target is ensured as the global minimum in working space. Simulation experiments are performed and the results demonstrate the effectiveness of the improved method.