文章基本信息

标题：Mobile Robot Path Planning Based on Dynamic Fuzzy Artificial Potential Field Method
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作者：Qiang Song ; Lingxia Liu
期刊名称：International Journal of Hybrid Information Technology
印刷版ISSN：1738-9968
出版年度：2012
卷号：5
期号：4
出版社：SERSC
摘要：Traditional artificial potential field method has the problem of local minimum and can not satisfy the requirements of real-time mobile robot path planning, security and accessibility in dynamic environment. To deal with the problems, through taking the advantage of velocity vector, modifying potential field force function, and integrating with the fuzzy control method, adjusting the factors of repulsion potential field in real time, a new method is proposed to overcome the shortcomings of artificial potential field method. To validate the proposed method, simulation experiments are conducted in MATLAB platform, and experimental results demonstrate that the performance of this proposed method is better than the traditional artificial potential field model
关键词：artificial potential field method; fuzzy control; mobile robot; path planning; ;local minimum