An advanced potential field method proposed for mobile robot path planning

摘要

In this paper, both the local minimum and the goal non-reachable with obstacles nearby (GNRON) problems have been solved on the artificial potential field (APF) for mobile robot path planning in a bounded environment. The GNRON problem occurs when the goal's position is inside the circle of influence of the obstacle. This phenomenon gives rise to a larger repulsive force with regard to the attractive force. Therefore, a stronger attractive function is proposed to ensure that the robot reaches the target successfully. The local minimum problem occurs when the robot, the goal and the centre of the obstacle are aligned. This situation engenders a total potential force equal to zero before reaching the goal position. To overcome this problem, a novel of repulsive potential function is proposed by activating a virtual escaping force when a local minimum is detected. This force behaves as a rotational force allowing the robot to escape from the deadlock positions and turn smoothly away from obstacles in the direction of the target. The combination of the new attractive force and the novel repulsive force could solve the local minimum and the GNRON problems. Finally, some methodic simulations, based on a comparative study with other methods from the literature, are carried out to validate and demonstrate the effectiveness of the advanced potential field method to handle the local minimum and GNRON problems.