Path Planning of Mobile Robot Based on Improved Directional Field Method with Control Direction Angle
GENG Shuangle
GUAN Qi
Abstract：In order to solve the problem of target point inaccessibility existing in traditional artificial potential sites,this paper proposes a uniform speed model for down-conversion angle traction method for path planning. By transforming the control of the tra?ditional potential field virtual force into an angular direction control,then a semicircle is set around the target point as the threshold detection range. When the mobile robot is outside the detection range,the planning is performed by the resultant force angle of the potential field. When the mobile robot enters the detection semicircle until it meets the set safety distance requirement,the resultant force angle will be converted into a gravitational angle and the robot will be directly pulled to reach the target point. Finally,the sim?ulation results show that the path planning algorithm proposed in this paper not only can successfully solve the obstacle avoidance problem in the robot target planning,but also can solve the problem that the robot cannot reach the target point in the traditional po?tential field method.
Keywords：route planangle of tractionthreshold processingsafe distance
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：5( 1110-1114 )