An Improved Artificial Potential Field Method Based on DWA and Path Optimization

Jinwen Hu, Changwei Cheng, Ce Wang, Chunhui Zhao, Quan Pan, Zhenbo Liu

科研成果: 书/报告/会议事项章节会议稿件同行评审

12 引用 (Scopus)

摘要

The artificial potential field (APF) method is a simple and effective path planning approach. However, there is a fatal problem, which is that the robot can fall into local minima easily before reaching destination. Thus in this paper, we propose an improved APF method based on dynamic window approach (DWA) by evaluating points around robot in local minima with evaluation function, and choose the best point as next path point. Besides, we also propose an optimization algorithm to shorten the path. The main idea is to connect the consecutive points of the planned path while leaving enough secure space between robot and obstacles. The results show that our improved method can solve the problem of local minima and the optimization algorithm can plan a shorter path while consuming little computational time.

源语言英语
主期刊名Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
出版商Institute of Electrical and Electronics Engineers Inc.
809-814
页数6
ISBN(电子版)9781728137926
DOI
出版状态已出版 - 10月 2019
活动2019 IEEE International Conference on Unmanned Systems, ICUS 2019 - Beijing, 中国
期限: 17 10月 201919 10月 2019

出版系列

姓名Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

会议

会议2019 IEEE International Conference on Unmanned Systems, ICUS 2019
国家/地区中国
Beijing
时期17/10/1919/10/19

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