An improved potential field method for mobile robot path planning in dynamic environments

An improved potential field method for automatic mobile robot path planning is proposed in this paper. At present, most potential field methods are designed to be applied in the stationary environment, and several improved potential functions have brought in the velocity factors in dynamic situation. Based on the consideration that the moving trend of the robot in dynamic environment is also necessary to produce more reasonable planning path, this paper defines new attractive potential function with respect to the relative position, velocity, and acceleration between the robot and the goal, as well as the repulsive potential function with respect to the relative position, velocity, and acceleration between the robot and the obstacles. The virtual force is calculated to make the robot plan its motion not only with right positions, but also with suitable velocities, furthermore, the robot will keep a similar moving trend with the goal and a contrary trend with the obstacles. At last, some methodic simulations are carried out to verify and demonstrate the effectiveness of the new potential field method.