Path planning of mobile robot based on compound potential field method

摘要

Aiming at the problem existing in the path planning of mobile robot,this paper proposed a path planning based on compound potential field method(CPFM) for autonomous mobile robot.Firstly,this paper analyzed the shortages of artificial potential field in detail,which would lead to the local minimum point.Then it applied repulsive potential field function with additional repulsion factor to deal with the problem of the minimum,which caused by the obstacles in the vicinity of the target and made the target point unreachable.In addition,this paper developed a new compound potential field method,by combining the artificial potential field and visibility graph method,to help the robot escape from the local minimum point or the vibration area.Finally,verified the effectiveness and good performance of the CPFM by the experiments of path planning for indoor mobile robot.