Mobile Robot Motion Planning Based on Potential Field in Dynamic Environment

Abstract

This paper firstly analyses the limitations of traditional potential field methods in dynamic environment,and based on this analysis,the traditional potential field is improved by introducing the concept of velocity potential field.Then a new attractive force function and a new repulsive force function are deduced,with which the robot can adjust its velocity to escape from obstacles,and move to target quickly,or track target synchronously.The effectiveness of the new potential field is verified by simulations.