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《Machine Tool & Hydraulics》 2002-06
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A Path Plann Method for Mobile Robot Based on Improved Potential Field Function

Wang Huili,Fu Weiping,Fang Zongde, Zhang Hongyuan (1 Department of Machine Manufacturing and Automation, Xian University of Science and Technology, Xian 710048; 2 Automobile Enginering Centre, Northwest University of Technology, Xian 710072)  
When we plana path for a mobile robot using potential field , the robot can not reach the goal for ever if the goal is near with obstacles This paper presents a new repulsive potential function considering the relative distance between the robot and the goal, This ensures that the goal is the global minimum of the whole potential field So the mobile robot can reach the goal freely
【Fund】: 西安交通大学机械系统国家重点实验基金项目
【CateGory Index】: TP242
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