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Dynamic path planning of mobile robot based on artificial potential field

文献类型：会议论文

作者He NF(何乃峰)1; Su YF(宿一凡)3; Guo, Jilu2; Fan XL(范晓亮)1; Liu ZH(刘子弘)3; Wang, Bolun3
出版日期2020
会议日期December 4-6, 2020
会议地点Sanya, China
关键词mobile robot path planning artificial potential field method
页码259-264
英文摘要Aiming at the problems of gravity imbalance, local minimum and local oscillation in traditional artificial potential field method, an improved artificial potential field algorithm is proposed in this paper. Firstly, the potential field function model is reconstructed; secondly, the pose threshold gain is introduced to overcome the linear interference; finally, the simulated annealing algorithm is used to optimize, and the escape local minimum module is designed to obtain the global optimal solution iteratively, so as to ensure the robot to reach the target quickly and stably. The experimental results show that in the complex environment, the improved artificial potential field method can effectively solve the gravity imbalance, local minimum and local oscillation problems existing in the traditional artificial potential field method, and can make the robot avoid dynamic obstacles and reach the desired target accurately and quickly.
产权排序1
会议录2020 International Conference on Intelligent Computing and Human-Computer Interaction, ICHCI 2020
会议录出版者IEEE
会议录出版地New York
语种英语
ISBN号978-1-6654-2316-8
WOS记录号WOS:000675596600056
源URL[http://ir.sia.cn/handle/173321/28932]  
专题沈阳自动化研究所_机器人学研究室
通讯作者Su YF(宿一凡)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
2.College of Mechanical Engineering, Shenyang, Shenyang Ligong University, China
3.School of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang, China
推荐引用方式
GB/T 7714		 He NF,Su YF,Guo, Jilu,et al. Dynamic path planning of mobile robot based on artificial potential field[C]. 见:. Sanya, China. December 4-6, 2020.

入库方式： OAI收割

来源：沈阳自动化研究所

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