DocumentCode
620204
Title
Research about local path planning of moving robot based on improved artificial potential field
Author
Yu Jianjun ; Du Hongwei ; Wang Guanwei ; Zhou Lu
Author_Institution
Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China
fYear
2013
fDate
25-27 May 2013
Firstpage
2861
Lastpage
2865
Abstract
This article is about artificial potential field (APF) used in moving robot path planning. However, due to the limitations of the algorithm, the robot is easy to fall into local minima destination unreachable during obstacle avoidance and target trends path planning. For this problem, we use “virtual obstacle” and “associate target” methods to improve APF, and successfully apply to robot path planning. Simulation results verify the feasibility of the algorithm.
Keywords
collision avoidance; mobile robots; path planning; APF; artificial potential field; associate target method; local minima destination; moving robot path planning; obstacle avoidance; target trends path planning; virtual obstacle method; Collision avoidance; Educational institutions; Electric potential; Market research; Path planning; Robots; Simulation; Improved artificial potential field; Local minimization; Local path planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Decision Conference (CCDC), 2013 25th Chinese
Conference_Location
Guiyang
Print_ISBN
978-1-4673-5533-9
Type
conf
DOI
10.1109/CCDC.2013.6561433
Filename
6561433
Link To Document