An improved artificial potential field algorithm based on nonuniform cell decomposition

DOI

10.2991/icmia-17.2017.132How to use a DOI?

Keywords

path planning; quadtree algorithm; artificial potential field algorithm

Abstract

Path planning of mobile robot is a complex issue involves computing and optimizing a collision-free path between initial position and destination, which requires the method reliable and efficient. This paper introduces an improved artificial potential field (APF) based on nonuniform decomposition method. The nonuniform decomposition can not only expand the range of robot's workspace and increase the possibilities of feasible paths existing, but also promote the efficiency ofpath planning. The improved APF algorithm solves some key problems of traditional APF. At last,the result of simulation verifies the effectiveness of this method.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yanyi Yang
AU  - Yingming Zhang
AU  - Xingchen Li
PY  - 2017/06
DA  - 2017/06
TI  - An improved artificial potential field algorithm based on nonuniform cell decomposition
BT  - Proceedings of the 2017 6th International Conference on Measurement, Instrumentation and Automation (ICMIA 2017)
PB  - Atlantis Press
SP  - 735
EP  - 739
SN  - 1951-6851
UR  - https://doi.org/10.2991/icmia-17.2017.132
DO  - 10.2991/icmia-17.2017.132
ID  - Yang2017/06
ER  -