A Hybrid Path Planning Method for Mobile Robot Based on Artificial Potential Field Method
This paper proposes a hybrid path planning method based on artificial potential field method (APF) for mobile robot, which combines wall following method (WFM) and obstacles connecting method (OCM) for dealing with local minimum. The environment information is took into consideration to decide the escape direction of WFM. To ensure the success of escaping from local minimum, more reliable switching conditions are designed. OCM is applied to reduce the difficulty of path planning for complex workspace with concave obstacles. Simulation studies have been carried out to verify the validity of the proposed method.
KeywordsArtificial potential field method Wall following method Escape direction Switching conditions Obstacles connecting method
This work was partially supported by National Nature Science Foundation (NSFC) under Grants 61861136009 and 61811530281.
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