Path Planning for Robot Based on Improved Artificial Potential Field

DOI

10.2991/mmme-16.2016.199How to use a DOI?

Keywords

artificial potential field, formula factors, virtual target point, path planning

Abstract

Aiming at the disadvantages of the traditional artificial potential field method, target is not reachable and the robot is easy to fall into local minimum point, the paper proposes an improved potential field function of arti-ficial potential field, a formula factor is added to the repulsive force field function, with the closer the dis-tance from the target point, the value of the factor decreases to zero, it can solve the defect of the target inac-cessible, at the same time, In order to prevent robots from shocks and trapped in local minima, the paper adds the virtual target point in a small range from the target point to increase the attractiveness of the robot point to the target, so that the robot complete path planning, simulation results proved that the method is feasible and effective.

Copyright

© 2016, 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  - Guoqing Qiu
AU  - Ting Niu
AU  - Qianqian Kou
AU  - Cheng Liu
PY  - 2016/10
DA  - 2016/10
TI  - Path Planning for Robot Based on Improved Artificial Potential Field
BT  - Proceedings of the 2016 4th International Conference on Mechanical Materials and Manufacturing Engineering
PB  - Atlantis Press
SN  - 2352-5401
UR  - https://doi.org/10.2991/mmme-16.2016.199
DO  - 10.2991/mmme-16.2016.199
ID  - Qiu2016/10
ER  -