Mobile Robot Obstacle Avoidance Based on Improved Artificial Potential Field Method

Abstract

Aiming at the defects of the traditional artificial potential field method in the obstacle avoidance process of mobile robots, the problems of unreachable targets and local minimum are analyzed. Introduce the distance index between the robot and the obstacle into the gravitational field function to solve the problem of unreachable target. Get rid of local minimum by applying escape force. Aiming at the problem that the traditional artificial potential field method is not effective in the dynamic environment, it is improved by adding a speed factor to the repulsive force field function. Finally, the improved artificial potential field method is applied in the complex dynamic environment. Using MATLAB to compare and simulate the improved algorithm, the experimental results verify the effectiveness and feasibility of the method.