Mobile Robot Path Planning Based on Improved Traditional Potential Field Method
GENG Shuangle
LUO Shunxin
Abstract：Aiming at the fact that the traditional artificial potential field method is easy to fall into the local optimal state in complex environment,this paper proposes a time-period distance detection method to detect whether the traditional potential field falls into a local stable point. Combined with the traditional potential field method,a way to establish a grid map of local stable re?gions is proposed. The heuristic search algorithm is used to search the path through the grid map. Eventually,the mobile robot can escape from the local stable area. In this paper,a new hybrid algorithm planning method is proposed. The traditional potential field potential field method is adopted in the overall path planning,and the local stable region is combined with the grid modeling heuris?tic search to escape the stable point.
Keywords：path planningcycle detectionhybrid planninggrid modeling
Publication Date：2019-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 823-827,862 )