Abstract：When the obstacles are large, or the free space is narrow, artificial potential field (APF) is prone to produce zigzag and wandering path. This paper combines the geometrical information and the reference direction to correct the shortcoming of APF, in order to plan a smooth and purposive path. This paper also develops an effective strategy with which the robot can advance even when it is surrounded by many obstacles.
[1] Danner T, Kavraki L E. Randomized planning for short inspection paths[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. San Francisco:2000. 971-976. [2] Gonzalez-Banos H, Latombe J C. Navigation strategies for exploring indoor environments[J]. The International Journal of Robotics Research, 2002,21 (10-11):829-848. [3] Lee J H, Park S M, Chwa K Y. Searching a polygonal room with a door by a 1-seracher[J]. The International Journal of Computer Geometry and Application, 2000, 8(2):201-220. [4] LaValle S M, Kuffner J J. Randomized kinodynamic planning[J]. The International Journal of Robotics Research, 2001,20 (5):378-398. [5] Kavraki L E, Svestka P, Latombe J C, et al. Probabilistic roadmaps for path planning in high-dimensional configuration spaces[J]. IEEE Transactions on Robotics and Automation, 1996,12(4):566-580. [6] Khatib O. Real-time obstacle avoidance for manipulators and mobile robots[J]. The International Journal of Robotics Research, 1986,5 (1):90-98. [7] Makita Y, Hagiwara M, Nakagawa M. A simple path planning system using fuzzy rules and a potential field [A]. World Congress on Computeational Intelligence[C]. 1994, 2. 994-999. [8] Barrraquand J, Langlois B, Jean-Claude L. Numerical potential fieldtechniques for robot path planning[J]. IEEE Transactions on Systems, Man, and Cybernetics, 1992,22 (2):224-241. [9] Benjamin T, Steven M, Lavalle, et al. Optimal navigation and objectfinding without geometric maps or localization [A]. Proceedings of the IEEE International Conference on Robotics and Automation[C].2003, 1. 464-470. [10] LaValle S M, Lin D, Guibas L J, et al. Visibility-based pursuit-evasion in a polygonal environment[A]. Proceedings of the 5th Workshop on Algorithms and Data Structures (WADS'97) [C]. SpringerVerlag,1997.17-30.
