Robot path planning based on artificial potential field with deterministic annealing

摘要

In the context of motion planning in robotics, the problem of path planning based on artificial potential fields has been examined using different algorithms to avoid trapping in local minima. With this objective, this paper proposes a novel method based on a deterministic annealing strategy to improve the potential field function by introducing a temperature parameter to increase the robot's obstacle avoidance efficiency. The annealing and tempering strategies prevent the robot from being trapped at the local minima and allow it to continue towards its destination. The initial path is optimised using an annealing algorithm to enhance the overall performance. The time, length and success rate of the planned path measures the quality of the solution. Simulation results and comparative experiments demonstrate that the proposed algorithm can solve path planning in different environments. The proposed algorithm is suitable for complex environments with convex or non-convex polygon obstacles.