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

Mobile robot technology is an important part of robotics,and it has broad application prospects in many fields.With the rapid development of computer,network and artificial intelligence,the research of mobile robot has entered a new stage,among them,path planning is the most important and basic technique?It plays a decisive role in how to move the robot in the environment.Therefore,this paper makes the following research on the path planning of mobile robots:(1)The path planning method of mobile robot is summarized and analyzed,which provides research ideas and theoretical basis for the research of mobile robot path planning.(2)This paper expounds the principle of the traditional artificial potential field algorithm,proposed an improved algorithm based on analyzing the defects of the traditional artificial potential field algorithm in path planning.First,a Gaussian function which is related to the distance between the robot and the target is added to the traditional repulsive force to solve the target unreachable problem.Second,a variable coefficient is added to the repulsive force component to resize the repulsive force,so as to help the robot escape from the local minima.(3)The proposed algorithm was simulated and analyzed using MATLAB software.Its efficiency was also tested by comparing with other classical algorithms.(4)Build a robot platform for physical experiment to verify its feasibility in the practical application.