An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot
To solve the problem of local minima and unreachable destination of the traditional artificial potential field method in mobile robot path planning, chaos optimization is introduced to improve the artificial potential field method. The potential field function was adopted as a target function of cha...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2015-06-01
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| Series: | Cybernetics and Information Technologies |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/cait-2015-0037 |
| _version_ | 1828734097666605056 |
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| author | Chen Wenbai Wu Xibao Lu Yang |
| author_facet | Chen Wenbai Wu Xibao Lu Yang |
| author_sort | Chen Wenbai |
| collection | DOAJ |
| description | To solve the problem of local minima and unreachable destination of the traditional artificial potential field method in mobile robot path planning, chaos optimization is introduced to improve the artificial potential field method. The potential field function was adopted as a target function of chaos optimization, and a kind of “two-stage” chaos optimization was used. The corresponding movement step and direction of the robot were achieved by chaos search. Comparison of the improved method proposed in this paper and the traditional artificial potential field method is performed by simulation. The simulation results show that the improved method gets rid of the drawbacks, such as local minima and unreachable goal. Furthermore, the improved method is also verified by building up a physical platform based on “Future Star” robot. The success of the physical experiment indicates that the improved algorithm is feasible and efficient for mobile robot path planning. |
| first_indexed | 2024-04-12T22:42:05Z |
| format | Article |
| id | doaj.art-ed3dfd1e683546c598e1ea1f68b59ab0 |
| institution | Directory Open Access Journal |
| issn | 1314-4081 |
| language | English |
| last_indexed | 2024-04-12T22:42:05Z |
| publishDate | 2015-06-01 |
| publisher | Sciendo |
| record_format | Article |
| series | Cybernetics and Information Technologies |
| spelling | doaj.art-ed3dfd1e683546c598e1ea1f68b59ab02022-12-22T03:13:41ZengSciendoCybernetics and Information Technologies1314-40812015-06-0115218119110.1515/cait-2015-0037An Improved Path Planning Method Based on Artificial Potential Field for a Mobile RobotChen Wenbai0Wu Xibao1Lu Yang2School of Automation, Beijing Information Science and Technology University, 10019, Beijing, ChinaSchool of Automation, Beijing Information Science and Technology University, 100192，Beijing, ChinaSchool of Automation, Beijing Information Science and Technology University, 100192，Beijing, ChinaTo solve the problem of local minima and unreachable destination of the traditional artificial potential field method in mobile robot path planning, chaos optimization is introduced to improve the artificial potential field method. The potential field function was adopted as a target function of chaos optimization, and a kind of “two-stage” chaos optimization was used. The corresponding movement step and direction of the robot were achieved by chaos search. Comparison of the improved method proposed in this paper and the traditional artificial potential field method is performed by simulation. The simulation results show that the improved method gets rid of the drawbacks, such as local minima and unreachable goal. Furthermore, the improved method is also verified by building up a physical platform based on “Future Star” robot. The success of the physical experiment indicates that the improved algorithm is feasible and efficient for mobile robot path planning.https://doi.org/10.1515/cait-2015-0037artificial potential field methodchaos optimizationpath planningmobile robot |
| spellingShingle | Chen Wenbai Wu Xibao Lu Yang An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot Cybernetics and Information Technologies artificial potential field method chaos optimization path planning mobile robot |
| title | An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot |
| title_full | An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot |
| title_fullStr | An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot |
| title_full_unstemmed | An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot |
| title_short | An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot |
| title_sort | improved path planning method based on artificial potential field for a mobile robot |
| topic | artificial potential field method chaos optimization path planning mobile robot |
| url | https://doi.org/10.1515/cait-2015-0037 |
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