期刊
CYBERNETICS AND INFORMATION TECHNOLOGIES
卷 15, 期 2, 页码 181-191出版社
INST INFORMATION & COMMUNICATION TECHNOLOGIES-BULGARIAN ACAD SCIENCES
DOI: 10.1515/cait-2015-0037
关键词
Artificial potential field method; chaos optimization; path planning; mobile robot
资金
- Importation and Development of High-Caliber Talents Project of Beijing Municipal Institutions [CITTCD201404125]
- Youth Innovation Fund program of AGRS [2013YFL06]
- Comprehensive Reform of Personnel Training [PXM2014_014224_000091]
To solve the problem of local minima and unreachable destination of the traditional artificial potential field method in mobile robot path planning, chaos optimization is introduced to improve the artificial potential field method. The potential field function was adopted as a target function of chaos optimization, and a kind of two-stage chaos optimization was used. The corresponding movement step and direction of the robot were achieved by chaos search. Comparison of the improved method proposed in this paper and the traditional artificial potential field method is performed by simulation. The simulation results show that the improved method gets rid of the drawbacks, such as local minima and unreachable goal. Furthermore, the improved method is also verified by building up a physical platform based on Future Star robot. The success of the physical experiment indicates that the improved algorithm is feasible and efficient for mobile robot path planning.
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