Path Planning based on Improved Artificial Potential Field Method
Hao Zhang, Meng Li, Zhangang Wu
Abstract
The artificial potential field method is regarded as a widely used method in path planning. However, the application of artificial potential field method in path planning will lead to the problem of unreachable target, easy to fall into traps and low success rate. Aiming at these shortcomings, this paper improves the repulsion field function to solve the problem of unreachable target, and selects a virtual target point when it falls into a trap to make it escape the trap. The effectiveness of the method is verified by simulation.
Topics & Concepts
Potential fieldMotion planningComputer scienceField (mathematics)Trap (plumbing)Path (computing)Point (geometry)Mathematical optimizationFunction (biology)Artificial intelligenceSimulationEngineeringRobotMathematicsGeologyEnvironmental engineeringPure mathematicsGeophysicsBiologyProgramming languageEvolutionary biologyGeometryRobotic Path Planning AlgorithmsRobotics and Sensor-Based LocalizationRobot Manipulation and Learning