Improved Artificial Potential Field On Path Planning For Mobile Robot

Path planning is an important issue for the research of mobile robot, which makes robot to achieve destination according to setting strategy. This dissertation discussed path planning issue on the AS-R mobile robot.This dissertation introduces the AS-R mobile robot and brings forward the method of rolling dealing with the data of the sonar of AS-R. It works well on controlling the obstacle-avoiding of AS-R. In order to research the robot in theory, the dissertation designs a simulation software about AS-R mobile robot. It is important to simulate the sonar sensor, the simulator detects the obstacle by scanning from vicinity to beyond. The result shows it is available.On the part path planning research, discusses the fault of traditional artificial potential field, improves the repulsive function. Also the dissertation introduces several Behavior-Based, basic behavior is combined with the artificial potential field and employed to the path planning on software level.