Research Of Path Planning For Mobile Robot Based On Improved Artificial Potential Field

The technology of mobile robot is an important branch of robotics. It's an advanced technology which has expansive application fields. From industrial manufacture to military spy, services, aviation and spaceflight, medical instrument. Etc, mobile robot has great development space in all of these fields. Robotics, as a multi-subject syncretized high-tech science, is certainly difficult to research. For the diversity and complexity of the environment, path planning has being an important aspect in the mobile robotic research field and also a crucial technology to intelligentize the robot. Path planning problem is one of the most basic and pivotal aspects in the research of mobile robot. Its task is to solve the problem of how to move in the environment for robot. Path planning is not an independent aspect in the research of mobile robot. It is relative with many other aspects, such as sense system, communication system and the rules of collaboration. This thesis mainly does the research on the path planning problem for mobile robot; the results of simulation demonstrate the validity of proposed theory and methods. The mainly comment and achievements of the thesis are as follows:Firstly, this thesis introduces the international status and trend of robot. The necessary technologies including environment modeling, sense system, international path planning methods are summarized, which makes a good preparation for the research of thesis.Second, the thesis makes a detail introduce to the traditional artificial potential field method, and analyses the inherit limitation of the artificial potential field, and the algorithm is improved. This thesis adopts an improved repulsive potential function for the problem of goal nonreachable with obstacle nearby. The new repulsive function considers the relative distance between robot and goal, and this method ensures the goal is the global minima of whole potential field. This thesis also proposes a method of connecting the obstacles near local minima area for trap situation duo to the local stability problem. With this method, the robot can reach the goal freely and more rapidly. The simulation results with MobileSim and experiment results with Pioneer3-DX mobile platform verified the effectiveness of the method.