Mobile robot navigation using multi-resolution electrostatic potential field

摘要

This paper proposes a multi-resolution electrostatic potential field (MREPF) based solution to the mobile robot path planning and collision avoidance problem in 2D dynamic environment. The MREPF is an efficient method in calculation time and updating field map. The large scale resolution map is added to EPF and this resolution map interacts with the small scale resolution map to find an optimal solution in real time. This approach can be interpreted with Atlantis model. The simulation studies show the efficiency of the proposed algorithm.