Obstacle avoidance and dynamic target tracking of robot in unknown environment
CUI Bao-xia
SONG Jia-rui
Abstract：In order to solve the problems that when the traditional artificial potential field method is used in the process of obstacle avoidance and dynamic target tracking, the robot falls into local minimum value piont, the target is unreacheable,and the obstacle avoidance tracking path appears shocking,the gravitation formula and the direction of repulsive component force were redefined. The velocity difference factor and acceleration difference factor were added into the gravitation formula, and the direction of repulsive component force was redefined as the direction with the angle not greater than 90°to the gravitation force. In addition,the optimization idea was compared and analyzed with the existing improved artificial potential field method. The results show that the proposed algorithm is feasible, and can improve the flexibility of obstacle avoidance and dynamic target tracking as well as the poor environment adaptability of robot.
Keywords：improved artificial potential field methoddynamic target trackingobstacle avoidancelocal minimum valuerepulsive force directiongravitation formularobotacceleration difference factor
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 292-298 )