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

Mobile robot technology is one of the focal points of robot research,and path planning is also a key topic in mobile robot technology research.Studying the problem of path planning can improve the efficiency of path planning better,and can also reduce production costs while completing tasks.This thesis takes the mobile robot path planning technology as the research content,selects the planar free mobile robot as the research object,and uses the artificial potential field method to study the robot path planning.The main contents of the research are:1.Study the principle of traditional artificial potential field algorithm,verify the artificial potential field algorithm through simulation experiment,and analyze the defects in the algorithm.2.For the problem of unreachable target,this paper considers the distance between the robot and the target point and constructs a new repulsive potential field function,so that the robot receives zero repulsive force at the target point to solve the problem at the target point.Within the influence distance of obstacles,the problem of unreachable goal is generated.3.Aiming at the local minimum problem,combining the characteristics of different algorithms,analyze and solve the local minimum caused by different obstacles.First,the simulated annealing algorithm and artificial potential field algorithm are used to solve the local minimum problem caused by general obstacles.Then,a method for constructing the second target point is proposed.Using this method,the local minimum problem caused by U-shaped obstacles is solved.4.A simulation experiment based on ROS was conducted to verify the effectiveness of the improved algorithm.The research results provide an effective method basis for planar mobile robots to perform autonomous trajectory planning and navigation in complex environments.