A Hybrid Path Planning Method for Mobile Robot Based on Artificial Potential Field Method

被引：0
|
作者：
Kong, Haiyi [1 ]
Yang, Chenguang [1 ]
Ju, Zhaojie [2 ]
Liu, Jinguo [3 ]
机构：
[1] South China Univ Technol, Coll Automat Sci & Engn, Guangzhou 510640, Peoples R China
[2] Univ Portsmouth, Sch Comp, Portsmouth PO1 3HE, Hants, England
[3] Chinese Acad Sci, Inst Robot, Shenyang 110016, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PART VI | 2019年 / 11745卷
关键词：
Artificial potential field method; Wall following method; Escape direction; Switching conditions; Obstacles connecting method;
D O I：
10.1007/978-3-030-27529-7_28
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper proposes a hybrid path planning method based on artificial potential field method (APF) for mobile robot, which combines wall following method (WFM) and obstacles connecting method (OCM) for dealing with local minimum. The environment information is took into consideration to decide the escape direction of WFM. To ensure the success of escaping from local minimum, more reliable switching conditions are designed. OCM is applied to reduce the difficulty of path planning for complex workspace with concave obstacles. Simulation studies have been carried out to verify the validity of the proposed method.
引用
收藏
页码：325 / 331
页数：7
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