A New Method for Robot Path Planning Based Artificial Potential Field
文献类型：会议论文
| 作者 | Yang, Xing; Yang, Wei; Zhang, Huijuan; Chang, Hao; Chen, Chin-Yin; Zhang, Shuangchi |
| 出版日期 | 2016 |
| 会议日期 | JUN 05-07, 2016 |
| 英文摘要 | The artificial potential field method is used in mobile robot path planning extensively because of its simpleness, high efficiency and smooth path, but it also has its disadvantages. To overcome the shortcomings of the traditional artificial potential field method in mobile robot path planning this paper analyzes the reasons that lead to the failure in path planning and puts forward an improved method, in which the attractive and repulsive potential field is optimized, also we propose a strategy of potential field filling to escape the GNRON and local minima problems. At last, we introduce regression search to optimize the path. As a result, the mobile robot can find a better and collision-free path to the goal. The simulation result proves the efficient and flexibility of our new APF. |
| 会议录出版者 | IEEE Conference on Industrial Electronics and Applications |
| 学科主题 | Engineering |
| ISSN号 | 2156-2318 |
| ISBN号 | 978-1-4673-8644-9 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23502]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Yang, Xing,Yang, Wei,Zhang, Huijuan,et al. A New Method for Robot Path Planning Based Artificial Potential Field[C]. 见:. JUN 05-07, 2016. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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