Path planning of mobile robot based on improved PRM and APF

被引:0
|
作者
Xi, Wanqiang [1 ]
Lin, Junzhi [1 ]
Shao, Ziyan [1 ]
机构
[1] Wuxi Univ, Coll Automat, 333 Xishan Ave, Wuxi 214105, Jiangsu, Peoples R China
来源
MEASUREMENT & CONTROL | 2024年
关键词
Mobile robot; path planning; APF; PRM; Sobol sampling;
D O I
10.1177/00202940241291282
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In the field of mobile robot path planning, the artificial potential field (APF) method has been widely researched and applied due to its intuitiveness and efficiency. However, the APF algorithm often encounters challenges such as local minima and unreachable goals in complex environments. To address these issues, this paper proposes innovative path planning algorithm that integrates the advantages of the probabilistic roadmaps method (PRM), by introducing Sobol sampling and elliptical constraints to enhance PRM. The improved PRM not only reduces redundant nodes but also enhances the quality of sampling points. Furthermore, this paper uses the path nodes from the improved PRM as virtual target points for the APF algorithm, and effectively solves the inherent flaws of the APF algorithm through the segmented processing of the attractive force function and the introduction of a relative distance factor in the repulsive force function. Simulation results show that the algorithm reduces planning time, node count, and path length, demonstrate significant improvements in efficiency and performance. In addition, experiments with omnidirectional mobile robots further confirm the effectiveness and reliability of the algorithm in practical applications.
引用
收藏
页数:17
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