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Design of a Simulation System for Cross-Eye Dynamic Jamming Read chapter Read first chapter

2018 | OriginalPaper | Chapter

Research for Path Planning in Indoor Environment Based Improved Artificial Potential Field Method

Authors : Hu Pan, Chen Guo, Zhaodong Wang

Published in: Proceedings of 2017 Chinese Intelligent Automation Conference

Publisher: Springer Singapore

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Abstract

In this paper, the disadvantages of the traditional artificial potential field method are analyzed when it applies to the mobile robot path planning. The improved artificial potential field method is put forward, and the problems in APF are overcome. By adding the relative distance between the robot and the goal into the function of the repulsive potential field, the GNRON problem is solved. And the method that sets the intermediate target point in path planning is proposed to solve the local minimum problem. On the basis of the improved artificial potential field method, the A* algorithm is used to get the required intermediate targets and the global optimization path are obtained. The mobile robot can find a more optimal and collision-free path in the indoor environment. The simulation result proves the efficient and flexibility of our new method.

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Metadata
Title
Research for Path Planning in Indoor Environment Based Improved Artificial Potential Field Method
Authors
Hu Pan
Chen Guo
Zhaodong Wang
Copyright Year
2018
Publisher
Springer Singapore
Book
Proceedings of 2017 Chinese Intelligent Automation Conference

Print ISBN: 978-981-10-6444-9

Electronic ISBN: 978-981-10-6445-6

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-981-10-6445-6_31