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

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages809-814
Number of pages6
ISBN (Electronic)9781728137926
DOIs
StatePublished - Oct 2019
Event2019 IEEE International Conference on Unmanned Systems, ICUS 2019 - Beijing, China
Duration: 17 Oct 201919 Oct 2019

Publication series

NameProceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

Conference

Conference2019 IEEE International Conference on Unmanned Systems, ICUS 2019
Country/TerritoryChina
CityBeijing
Period17/10/1919/10/19

Keywords

  • DWA
  • improved APF
  • path optimization
  • Path planning

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