Research about local path planning of moving robot based on improved artificial potential field - 文章详情页

作者：

Yu, Jianjun (Yu, Jianjun.) | Du, Hongwei (Du, Hongwei.) | Wang, Guanwei (Wang, Guanwei.) | Zhou, Lu (Zhou, Lu.)

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EI Scopus

摘要：

This　article　is　about　artificial　potential　field　(APF)　used　in　moving　robot　path　planning.　However,　due　to　the　limitations　of　the　algorithm,　the　robot　is　easy　to　fall　into　local　minima　destination　unreachable　during　obstacle　avoidance　and　target　trends　path　planning.　For　this　problem,　we　use　＇virtual　obstacle＇　and　＇associate　target＇　methods　to　improve　APF,　and　successfully　apply　to　robot　path　planning.　Simulation　results　verify　the　feasibility　of　the　algorithm.　©　2013　IEEE.

关键词：

Motion planning Robot programming Robots

作者机构：

[ 1 ] [Yu, Jianjun]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 2 ] [Du, Hongwei]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 3 ] [Wang, Guanwei]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 4 ] [Zhou, Lu]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China

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