Dynamic Obstacle-Avoiding Path Planning for Robots Based on Modified Potential Field Method
The potential field method is widely used for autonomous robots due to its simplicity and high efficiency in dynamic motion planning. However, there is still drawback of unnecessary obstacle avoidance of former methods in dynamic obstacle avoidance planning. This paper proposes a new potential field method to solve the problem, whose new virtual force is deduced through introducing the restriction of collision angle with exponential form and both the information of angle and magnitude of relative velocity. The simulation results prove that the robot can not only avoid their obstacles and move to the target safely and quickly in dynamic environments, but remove largely the unnecessary obstacle avoidance by using the proposed method.
Keywordsrobot motion planning artificial potential field dynamic obstacle avoidance the local minimum
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