The dynamic path planning research for mobile robot based on artificial potential field

Author

Hong, Zhang ; Liu, Yang ; Zhongguo, Gao ; Yi, Cao

Author_Institution

Sch. of Mech. Eng., Jiangnan Univ., Wuxi, China

fYear

2011

fDate

16-18 April 2011

Firstpage

2736

Lastpage

2739

Abstract

Based on the mobile robot dynamic characteristics of the working environment, this paper presents a model based on classic artificial potential field potential field on the basis of considering dynamic model of velocity potential field, using quantum particle swarm optimization algorithm, using quantum particle swarm optimization algorithm for rapid global search and artificial potential field operations, easy real-time control of quickness, realize the defects of optimal path. Simulation results show that this method can effectively improve the performance of path planning.

Keywords

mobile robots; particle swarm optimisation; path planning; robot dynamics; search problems; artificial potential field; dynamic path planning; mobile robot dynamic characteristics; quantum particle swarm optimization algorithm; rapid global search; Collision avoidance; Heuristic algorithms; Particle swarm optimization; Path planning; Planning; Robot kinematics; QPSO; artificial potential field; dynamic path planning; mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Consumer Electronics, Communications and Networks (CECNet), 2011 International Conference on

Conference_Location

XianNing

Print_ISBN

978-1-61284-458-9

Type

conf

DOI

10.1109/CECNET.2011.5768480

Filename

5768480