| Zhao Jie(赵杰),Yu Zhenzhong,Yan Jihong,Gao Yongsheng,Chen Zhifeng.[J].高技术通讯(英文),2011,17(2):160~165 |
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| Mobile robot path planning method combined improved artificial potential field with optimization algorithm |
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| DOI： |
| 中文关键词: |
| 英文关键词: trust region, optimization algorithm, path planning, artificial potential field, mobile robot, potential field intensity |
| 基金项目: |
| Author Name | Affiliation | | Zhao Jie(赵杰) | | | Yu Zhenzhong | | | Yan Jihong | | | Gao Yongsheng | | | Chen Zhifeng | |
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| 中文摘要: |
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| 英文摘要: |
| To overcome the shortcomings of the traditional artificial potential field method in mobile robot path planning, an improved artificial potential field model (IAPFM) was established, then a new path planning method combining the IAPFM with optimization algorithm (trust region algorithm) is proposed. Attractive force between the robot and the target location, and repulsive force between the robot and the obstacles are both converted to the potential field intensity; and filled potential field is used to guide the robot to go out of the local minimum points; on this basis, the effect of dynamic obstacles velocity and the robot’s velocity is consid thers and the IAPFM is established, then both the expressions of the attractive potential field and the repulsive potential field are obtained. The trust region algorithm is used to search the minimum value of the sum of all the potential field intensities within the movement scope which the robot can arrive in a sampling period. Connecting of all the points which hare the minimum intensity in every sampling period constitutes the global optimization path. Experiment result shows that the method can meet the real-time requirement, and is able to execute the mobile robot path planning task effectively in the dynamic environment. |
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