An evolutional artificial potential field algorithm based on the anisotropy of omnidirectional mobile robot

摘要

The traditional artificial potential field (APF) method is widely used for motion planning of traditional mobile robot, but there is little research about the application to the omnidirectional mobile robot (OMR). To propose a more suitable motion planning for OMR, an evolutional APF is presented in this paper, by introducing the revolving factor into the APF. The revolving factor synthesizes the anisotropy of OMR and the affect of dynamic environment. Finally simulation is carried out to demonstrate that, the evolutional APF is a high-speed and high-efficiency motion planning by comparing with the traditional APF, and the advantages of OMR is exerted.