The improved artificial potential field algorithm based on pre added virtual force

DOI:	10.11809/bqzbgcxb2023.03.031
Keywords:	artificial potential field algorithm; pre added virtual force; path planning; theimproved algorithm; mobile robot
Abstract:	In order to solve the problem that the traditional artificial potential field algorithm falls into the local optimal point caused by zero resultant force of attraction and repulsion due to the position of target points and obstacles in path planning, this paper puts forward a method of introducing virtual force to assist the artificial potential field to get rid of the local optimal point. At first, the improved algorithm evenly divides the pre added virtual force into eight directions, and then re plans the trajectory according to the resultant force of the virtual force and the potential field force. After selecting the right time to remove the virtual force, this paper obtains a number of new trajectories, and then removes the unreasonable ones according to each newly planned trajectory. Finally, the track lengths of all feasible pre added virtual force directions are calculated, and the optimal track is selected. Through the comparison of the results of the improved algorithm and the traditional artificial potential field method obtained from the five sets of simulation experiments, it is verified that the improved algorithm can solve the defects of the traditional artificial potential field algorithm in the complex environment of a single obstacle and multiple obstacles.The improved algorithm can also plan a reasonable path which can effectively solve the problems like poor adaptability of the traditional artificial potential field algorithm in a complex environment. All these results prove that it is feasible and effective to improve the traditional artificial potential field algorithm by pre added virtual force.
Issue:	Vol. 44 No. 3 (2023)
Published:	2023-03-28
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