Path Planning for Mobile Robots using Iterative Artificial Potential Field Method
In this paper, a new algorithm is proposed for solving the path
planning problem of mobile robots. The algorithm is based on
Artificial Potential Field (APF) methods that have been widely
used for path planning related problems for more than two
decades. While keeping the simplicity of traditional APF
methods, our algorithm is built upon new potential functions
based on the distances from obstacles, destination point and start
point. The algorithm uses the potential field values iteratively to
find the optimum points in the workspace in order to form the
path from start to destination. The number of iterations depends
on the size and shape of the workspace. The performance of the
proposed algorithm is tested by conducting simulation
experiments.
Keywords: Mobile robot, Path Planning, Artificial Potential Field, Collision Free Path
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