The dynamic path planning research for mobile robot based on artificial potential field

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.