Research on Mobile Robot Path Planning in Dynamic Fnvironment

被引：0
|
作者：
Liang, Xianxia [1 ]
Liu, Chaoying [1 ]
Song, Xueling [1 ]
Hao, Cunming [2 ]
机构：
[1] Hebei Univ Sci & Technol, Dept Elect & Informat, Shijiazhuang, Hebei, Peoples R China
[2] Hebei Acad Sci, Inst Appl Math, Shijiazhuang, Hebei, Peoples R China
来源：
2017 CHINESE AUTOMATION CONGRESS (CAC) | 2017年
关键词：
mobile robot; path planning; potential field method; dynamic environment; relative velocity;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The traditional artificial potential field method is suitable for stationary environment. In practical application, mobile robot is in a dynamic environment where the target and the obstacles arc moving. For the dynamic environment, the relative position and velocity of the moving target with respect to the mobile robot and the mobile robot with respect to the moving obstacles are taken into account in the potential field function. The traditional potential field function is modified with the size of the mobile robot. In the case of a variety of environments with stationary or moving obstacles, the improved artificial potential field method is studied. Finally, the simulation results based on MATLAB platform validates the effectiveness of the algorithm.
引用
收藏
页码：3890 / 3894
页数：5
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