Mobile robot Path planning based on Behavior Information Potential Field in unknown Environments

a path planning method based on the new concept of behavior information potential field (BIPF) is proposed in this paper. The basic idea is to build an imaginary field represent the behaviors of robot. The BIPF is a crucial factor for path planning. The BIPF method uses a 2D Cartesian histogram grid as an imaginary field model which is updated continuously by the actions of robot. The robot tends to observe the region in which the BIPF value less than others. An optimality punishment function based on BIPF is given by this paper. We use this function to choice the optimal action as control vector. Experimental result shows the performance of BIPF method in this paper