关键词: 移动机器人, 路径规划, 人工势场法, 虚拟目标点, 方向向量

Abstract: The traditional artificial potential field is easy to fall into the local minimum point and trap area in the path planning process, and is difficult to plan a complete path when the robot surrounded by complex obstacles. An improved artificial potential field is proposed to solve these problems. Firstly, the direction vector of the robot forward is introduced to solve the problem that the robot cannot continue to plan the path when it is at the local minimum point, the generation and the computer system of the repulsive force are also adjusted for this problem. Secondly, a judgment mechanism is added to identify the surrounding environment. When the robot in a complex environment such as the trap area, a virtual target point is set to guide the robot to move outward to get rid of this place. The results show that the improved algorithm can effectively solve the path planning interruption that is easy to occur in traditional algorithms. At the same time, compared with the traditional algorithm, the planned path length in the random obstacle environment is reduced, which effectively improves the path planning efficiency.

Key words: mobile robot, path planning, artificial potential field, virtual target point, direction vector