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

Mobile robot technology is one of the focuses of robot research,and the path planning problem is mobile machine Key topics in the research of robot technology.Studying path planning problems can better improve path planning Efficiency,complete tasks while reducing production costs.In this paper,the path planning technology of mobile robot is taken as the research content,and the plane is selected to move the machine freely Artificial research object,artificial potential field algorithm to study robot path planning,the main research,The content includes:1.Study the principle of traditional artificial potential field algorithm,and calculate the artificial potential field through simulation experiments The method is verified and analyzes the defects in the algorithm.2.In view of 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 makes the robot zero repulsion at the target point to solve it Because the target point is within the influence distance of the obstacle,the resulting goal is unreachable.3.For the local minimum problem,combined with the characteristics of different algorithms,caused by different obstacles Local minima is analyzed and resolved.Firstly,the simulated annealing algorithm and the artificial potential field algorithm are used Combined with the local minimum caused by general obstacles,the local minimum problem is solved.Then a kind of second goal is proposed The point construction method,which uses this method to solve the local minimum problem caused by U-shaped obstacles.4.For the problem of multi-robot obstacle avoidance,due to the limitations of the gravitational gain coefficient and repulsive gain coefficient of the artificial potential field method,this paper adopts the gray wolf algorithm to change its limitations and better complete the multi-robot obstacle avoidance problem.