Path planning for mobile robot using the novel repulsive force algorithm

2017 3rd International Conference on Environmental Science and Material Application

生态环境科学;材料科学

Sun, Siyue^1 ; Yin, Guoqiang^1 ; Li, Xueping^1

School of Mechanical Engineering, Tianjin University of Technology, Tianjin

300384, China^1

关键词: Artificial potential fields;    Gaussian functions;    Local minimum problem;    Local minimums;    Mobile robot platforms;    Repulsive forces;    Target point;    Variable coefficients;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/108/5/052067/pdf
DOI  :  10.1088/1755-1315/108/5/052067

来源: IOP

【 摘 要 】

A new type of repulsive force algorithm is proposed to solve the problem of local minimum and the target unreachable of the classic Artificial Potential Field (APF) method in this paper. The Gaussian function that is related to the distance between the robot and the target is added to the traditional repulsive force, solving the problem of the goal unreachable with the obstacle nearby; variable coefficient is added to the repulsive force component to resize the repulsive force, which can solve the local minimum problem when the robot, the obstacle and the target point are in the same line. The effectiveness of the algorithm is verified by simulation based on MATLAB and actual mobile robot platform.