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A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14267))

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Abstract

In this paper, a modified artificial potential field (MAPF) method was proposed for general mobile robot navigation system. This MAPF method can effectively solve the unreachable goal problem and the local minima problem of traditional APF method. The first key idea of MAPF method is to modify the repulsive force function and thus optimize the direction of total repulsive force; the second key idea is to generate a serials of subgoal points around obstacles with specific method, so as to help the robot escape from or keep away from local minima area. By comparing with other similar algorithms in simulation environment, the MAPF algorithm can generate shorter paths efficiently. More importantly, it also can generate effective paths in multi-obstacle environment where other algorithms cannot. Finally the simulation results verified the reasonability and practicability of the proposed MAPF method.

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Acknowledgment

This work is mainly supported by National Key Research and Development Program of China (No. 2022YFB4702000) and Shenzhen Polytechnic Research Fund (6023310005K).

Author information

Authors and Affiliations

  1. Department of Mathematics and Theories, Pengcheng Laboratory, Shenzhen, 518055, China

    Jixue Mo

  2. School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, China

    Changqing Gao

  3. Industrial Training Center, Shenzhen Polytechnic, Shenzhen, 518055, China

    Fei Liu

  4. Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, 100081, China

    Qingkai Yang & Hao Fang

Authors
  1. Jixue Mo
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  2. Changqing Gao
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  3. Fei Liu
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  4. Qingkai Yang
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  5. Hao Fang
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Corresponding author

Correspondence to Hao Fang .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Mo, J., Gao, C., Liu, F., Yang, Q., Fang, H. (2023). A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14267. Springer, Singapore. https://doi.org/10.1007/978-981-99-6483-3_26

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  • DOI: https://doi.org/10.1007/978-981-99-6483-3_26

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6482-6

  • Online ISBN: 978-981-99-6483-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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