A new motion planning approach based on artificial potential field in unknown environment

Authors:
Zhiye Li;Xiong Chen;Wendong Xiao
Affiliations:
Department of Electronic Engineering, Fudan University, Shanghai, PRC;Department of Electronic Engineering, Fudan University, Shanghai, PRC;Institute for Infocomm Research, Singapore
Venue:
PDCAT'04 Proceedings of the 5th international conference on Parallel and Distributed Computing: applications and Technologies
Year:
2004

Citing 2
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Abstract

This paper presents a new approach for robots’ path planning in unknown environments, which is mainly based on the Artificial Potential Field (APF) method and some Artificial Intelligence (AI) theories. The main original point of the new algorithm lies in that it puts two intelligent ideas inertial mind and resistive mind, into robots’ minds. Therefore during the robots’ real-time path planning in unknown environments, in addition to the repulsive force by obstacles and the attractive force by goal, there are two more forces which can influence the behavior of robots. In the new algorithm presented in this paper, robots are directed by the composite force in the environments and the local minima problems are solved efficiently. Several simulations are presented to demonstrate the effectiveness of the new approach.