关键词: 人工势场法, 路径规划, 局部极小值, 移动机器人

Abstract:

Path planning of mobile robots based on the traditional artificial potential field method has the problems of non-reachable targets with nearby obstacles and local minimum points. We analyze the cause of this problem, and propose a path planning algorithm for mobile robots based on the improved artificial potential field. In this algorithm, the relative distance between the robot and the target is intro-duced into the repulsion function, and the robot can walk out of local minimum points and reach the tar-get point by establishing a virtual target point and isolating the original target point. Simulations verify the effectiveness of the improved algorithm.

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