Title :
The dynamic path planning research for mobile robot based on artificial potential field
Author :
Hong, Zhang ; Liu, Yang ; Zhongguo, Gao ; Yi, Cao
Author_Institution :
Sch. of Mech. Eng., Jiangnan Univ., Wuxi, China
Abstract :
Based on the mobile robot dynamic characteristics of the working environment, this paper presents a model based on classic artificial potential field potential field on the basis of considering dynamic model of velocity potential field, using quantum particle swarm optimization algorithm, using quantum particle swarm optimization algorithm for rapid global search and artificial potential field operations, easy real-time control of quickness, realize the defects of optimal path. Simulation results show that this method can effectively improve the performance of path planning.
Keywords :
mobile robots; particle swarm optimisation; path planning; robot dynamics; search problems; artificial potential field; dynamic path planning; mobile robot dynamic characteristics; quantum particle swarm optimization algorithm; rapid global search; Collision avoidance; Heuristic algorithms; Particle swarm optimization; Path planning; Planning; Robot kinematics; QPSO; artificial potential field; dynamic path planning; mobile robot;
Conference_Titel :
Consumer Electronics, Communications and Networks (CECNet), 2011 International Conference on
Conference_Location :
XianNing
Print_ISBN :
978-1-61284-458-9
DOI :
10.1109/CECNET.2011.5768480
