Research on Local Path Planning of Mobile Robot Based on Artificial Potential Field Method

摘要

In this paper, based on the traditional artificial potential field method, the local minimum point oscillation and the gravitational force appearing on the path planning are improved. The improvement measures and model scheme are proposed. The target point and the mobile robot are added in real time based on the original repulsion potential field model. The weighting factor of the position. In the process of improving the repulsive field model, the vector superposition method is adopted in this paper. The effect analysis and parameter debugging of the repulsive field model under different conditions are carried out. The actual environment map simulation by Matlab shows that the improved method can effectively solve the traditional artificial potential field. The problem is that the target point is unreachable and the local minimum point is oscillated due to excessive repulsive force and too small gravitational force.