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《Journal of Shaoyang University(Natural Science Edition)》 2018-05
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Application of Quantized Potential Field Value on Robot Path Planning

JIN He;WANG Liezhun;School of Automotive and Mechanical Engineering,Lu'an Vocational Technical College;  
Aiming at the obstacle avoidance of robot in dynamic environment,a path planning algorithm was proposed based on the quantized potential field values whose size indicate the probability that a robot would collide with an obstacle,assuming that the robot executes a random walk from the current location and the time onwards. The robot planed a path by extrapolating its location using current velocities and by calculating the potential field values from start to a look-ahead value that was determined by calculating the minimum path length using connectivity evaluation index. Finally,the algorithm proposed was simulated with Matlab,and the simulation results show the effectiveness and feasibility of the algorithm.
【Fund】: 六安职业技术学院科研项目(XJKY201602);; 安徽省质量工程项目(2016msgzs068)
【CateGory Index】: TP242
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