关键词: 人工势场, 路径规划, 局部极小值, 切线法, 搜索法, 自适应步长调节

Abstract: In order to overcome the shortcomings of artificial potential field method in path planning of mobile robots, an improved artificial potential field method is proposed. The obstacles that outside the range of robot's movement are removed to reduce the amount of calculation; the distance between the robot and the target is introduced in the repulsion function to solve the problem of unreachable target. The tangent method is used to solve the problem of local minima point formed by the action of a single obstacle, and the search method is used to solve the problem of local minima point formed by the simultaneous action of multiple obstacles. Considering the complexity of path planning, an adaptive step adjustment algorithm is proposed. Finally, a simulation experiment is carried out on the Matlab platform. The experimental results show that the improved artificial potential field method can overcome the target unreachable problem and local minimum problem, and at the same time it has a greater superiority in amount of calculation, path planning steps and path smoothness.

Key words: Artificial potential field, path planning, local minima point, tangent method, search method, adaptive step adjustment algorithm