An Improved APF Method for Path Planning in Unknown Environment

B. Ni and X. Chen (PRC)


improved APF, Adaptive pace length, path planning


A novel improvement model based on APF (artificial potential field) is shown to be effective in robot path planning and obstacle avoidance, with the reference direction to overcome the disadvantages of APF in addition. A geometry method is also included to judge the situation of obstacles and combine with the reference direction to optimize the path. Then, the development in dynamic adaptive algorithm of pace length (DAAPL) is proposed to short the path, as well as the analyses of the relation between APF and the pace length. Finally, computer simulations prove the effective of the algorithm

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