Improved artificial potential field method based on robot local path information
Chuanxiang Ren,
Fangfang Fu,
Changchang Yin
et al.
Abstract:The artificial potential field (APF) is an important method for robot path planning. However, some information in APF is not fully utilized in practical applications. In this paper, an improved artificial potential field (IAPF) method is presented, in which the local path information is defined and used. And the calculation formulas for various forces in IAPF are given, which include repulsive force (R-force) of obstacle on the robot, the attractive force (A-force) of target on the robot, and the resultant for… Show more
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