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| Path Planning for Mobile Robot in Unknown Narrow Environments |
| LIANG Ke, CHEN Xiong |
| Department of Electronic Engineering, Fudan University, Shanghai 200433, China |
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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.
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Received: 12 July 2004
Published: 15 January 2005
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