Mobile Robot Three-dimension Path Planning Based On Improved Artificial Potential Field And Disturbed Fluid Method

This thesis mainly studies two implemented methods of path planning for mobile robots.They are the traditional Artificial Potential Field method and the disturbed fluid method.Based on the analysis of the principles and defects of the two methods,this paper gives their improved methods respectively,and verifies the improved results.The thesis is separated into the main four parts below.Chapter 1 introduces the different assortments of path planning methods for mobile automatons.Including the research background of traditional artificial potential field method and disturbed fluid method,current research status,research content and research significance of this paper.Chapter 2 first introduces the application principle of the traditional Artificial Potential Field method in the path planning of mobile robots,and analyzes the disadvantages and limitations of the traditional method.On this basis,the traditional two-dimensional application environment is extended to three-dimensional,and the three-dimensional coordinate system is established.Then by adding virtual targets and changing the repulsive force field,the problem of robots falling into local minima and target unreachability is solved respectively,so as to improve and popularize the traditional Artificial Potential Field method.Simulation results show that this improvement makes the moving path of the robot smoother and it can reach the target point smoothly.Chapter 3 mainly shows the application of the obstacle avoidance principle of disturbed fluid method in the path planning of mobile robots.It is improved to use relative coordinate system to describe environment information.Then this chapter considers the factor of safe distance when the robot meets an obstacle,and increases the safe distance factor on the basis of the original method to ensure the smoothness when the robot avoids the obstacle.Simulation verification reveals that this improved method is able to add to the safety of mobile robot obstruction avoidance.In chapter 4,the research results of this paper are shortly generalized and the coming study work is expected.