OS11-13 Path Planning Based on Improved Artificial Potential Field Method

Title:	OS11-13 Path Planning Based on Improved Artificial Potential Field Method
Publication:	ICAROB2020
Volume:	25
Pages:	592-598
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2020.OS11-13
Author(s):	Feifan Xu, Huailin Zhao, Zhen Nie, Xin Zhou, Zheheng Tao
Publication Date:	January 13, 2020
Keywords:	Path Planning, Artificial Potential Field, Fuzzy Control
Abstract:	In this paper, the traditional artificial potential field method is improved. Aiming at the problem that the traditional algorithm cannot pass through the obstacles close to each other and is prone to oscillation near the obstacles, the angle function is added to match the original force field function base on the traditional algorithm, and the stability is enhanced by combining the idea of fuzzy control. Finally, a reasonable and smooth optimal path is obtained by MATLAB simulation. It is proved that the multi-function parallel and multi-algorithm hybrid algorithm is feasible in the field of mobile robot path planning.
PDF File:	https://alife-robotics.co.jp/members2020/icarob/data/html/data/OS/OS11/OS11-13.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/