Discrete Artificial Potential Field-based Mobile Robot Dynamic Path Planning

Robots have been applied more and more in various fields with the development of science and technology as well as robotics, and consequently, the research and development of mobile robots have been paid great attention to in recent years. The requirement of its ability to react in accordance with the environmental changes in moving has become higher and higher. Therefore, the path planning, as an important factor in robot intelligence, appears particularly significant.In this thesis, artificial potential field is used on the study of the path planning of mobile robots in complicated environment and its relevant problems, especially the motion planning in unknown static and dynamic environment. Following are the main content of the thesis:First of all, set up the fixed coordinate system and robot vehicle coordinate system, as well as conversion between the two coordinate systems in order to establish the obstacles position detected by robot in the fixed coordinate system. The models of the obstacles have been set up, including the uniform velocity model and the random model.Secondly, in the process of the robot path planning, this paper adopts the method of analytic geometry to set up the relations of the obstacles and robot in order to distinguish the potential collision obstacles from the non-potential collision obstacles for making fewer detours. Obstacles are analyzed with discussion of classification and progressive layers, from the static to the dynamic obstacles, from the uniform velocity model to the random model, from the particle model to the circular model, from the simple to the complicated.Finally, a discrete artificial potential field model reformed from traditional potential field model is set up for discrete characteristic of robot control. The main parameters of artificial potential field model are analyzed; the basic selection principles of the three parameters are concluded. And a simulation shows good results.