Adaptive artificial potential field approach for obstacle avoidance path planning

被引：36
|
作者：
Zhou, Li [1 ]
Li, Wei [1 ]
机构：
[1] UESTC, Res Inst Elect Sci & Technol, Chengdu 611731, Peoples R China
来源：
2014 SEVENTH INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE AND DESIGN (ISCID 2014), VOL 2 | 2014年
关键词：
robots; obstacle avoidance; path planning; potential field;
D O I：
10.1109/ISCID.2014.144
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 presents an adaptive artificial potential field method for robot's obstacle avoidance path planning. Despite the obstacle avoidance path planning based on the artificial potential field method is very popular, but there is local minima problem with this approach. As a result, this paper proposes an improved obstacle potential field function model considering for the size of the robot and the obstacles and changes the weight of the obstacle potential field function adaptively to make the robot escape from the local minima. Three simulations have been done and the simulation results show: the improved algorithm can make the robot escape from the local minima and accomplish the robot collision avoidance path planning well.
引用
收藏
页数：4
相关论文
共 50 条
  • [1] Path Planning for Obstacle Avoidance of Manipulators Based on Improved Artificial Potential Field
    Chen, Zhongyi
    Ma, Lin
    Shao, Zhijiang
    [J]. 2019 CHINESE AUTOMATION CONGRESS (CAC2019), 2019, : 2991 - 2996
  • [2] Adaptive Artificial Potential Field Approach for Obstacle Avoidance of Unmanned Aircrafts
    Rezaee, Hamed
    Abdollahi, Farzaneh
    [J]. 2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2012,
  • [3] Global path guided vehicle obstacle avoidance path planning with artificial potential field method
    Chen, Yangde
    Wang, Peiliang
    Lin, Zichen
    Sun, Chenhao
    [J]. IET CYBER-SYSTEMS AND ROBOTICS, 2023, 5 (01)
  • [4] Robot Path Planning Based on Artificial Potential Field Method with Obstacle Avoidance Angles
    Wan, Jun
    Sun, Wei
    Ge, Min
    Wang, Kehong
    Zhang, Xiaoyong
    [J]. Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2024, 55 (01): : 409 - 418
  • [5] Obstacle avoidance planning for quadrotor UAV based on improved adaptive artificial potential field
    Guo, Yicong
    Liu, Xiaoxiong
    Zhang, Weiguo
    Liu, Xuhang
    Yang, Yue
    [J]. 2019 CHINESE AUTOMATION CONGRESS (CAC2019), 2019, : 2598 - 2603
  • [6] Path Planning and Evaluation for Obstacle Avoidance of Manipulator Based on Improved Artificial Potential Field and Danger Field
    Zhao, Jiangbo
    Zhao, Qiang
    Wang, Junzheng
    Zhang, Xin
    Wang, Yanlong
    [J]. PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021), 2021, : 3018 - 3025
  • [7] Mechanical arm obstacle avoidance path planning based on improved artificial potential field method
    Xu, Tianying
    Zhou, Haibo
    Tan, Shuaixia
    Li, Zhiqiang
    Ju, Xia
    Peng, Yichang
    [J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2022, 49 (02): : 271 - 279
  • [8] Obstacle Avoidance Path Planning of Space Manipulator Based on Improved Artificial Potential Field Method
    Liu S.
    Zhang Q.
    Zhou D.
    [J]. Journal of The Institution of Engineers (India): Series C, 2014, 95 (1) : 31 - 39
  • [9] Path planning and obstacle-avoidance for soccer robot based on Artificial Potential Field and genetic algorithm
    Xu, Xinying
    Xie, Jun
    Xie, Keming
    [J]. WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, 2006, : 3494 - 3498
  • [10] 6-DOF Robotic Obstacle Avoidance Path Planning Based on Artificial Potential Field Method
    Gai, ShengNan
    Sun, Rui
    Chen, ShunJun
    Ji, ShuTing
    [J]. 2019 16TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS (UR), 2019, : 165 - 168
12345