Research on mobile robot path planning in dynamic environment

Abstract

The traditional artificial potential field method is suitable for stationary environment. In practical application, mobile robot is in a dynamic environment where the target and the obstacles are moving. For the dynamic environment, the relative position and velocity of the moving target with respect to the mobile robot and the mobile robot with respect to the moving obstacles are taken into account in the potential field function. The traditional potential field function is modified with the size of the mobile robot. In the case of a variety of environments with stationary or moving obstacles, the improved artificial potential field method is studied. Finally, the simulation results based on MATLAB platform validates the effectiveness of the algorithm.