A new potential field method for mobile robot path planning in the dynamic environments

摘要

Abstract A new potential field method for mobile robot path planning is proposed in this paper. At present, most potential field methods are designed to be applied in the stationary environment, and several improved potential functions have brought in the velocity factors in the dynamic circumstances. Based on the consideration that the moving trend of the robot in the dynamic environments is also necessary to produce more reasonable path, this paper defines new attractive potential function with respect to the relative position, velocity, and acceleration between the robot and the goal, as well as the repulsive potential function with respect to the relative positions, velocities, and accelerations between the robot and the obstacles. The virtual forces are calculated to make the robot plan its motion, not only with right positions, but also with suitable velocities. Furthermore, the robot will keep a similar moving trend with the goal and contrary trends with the obstacles. Finally, some methodic simulations are carried out to validate and demonstrate the effectiveness of the new potential field method. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society