Autonomous Agent Navigation Model Based on Artificial Potential Fields Assisted by Heuristics

Abstract

When autonomous agents are deployed in an unknown environment, obstacle-avoiding movement and navigation are required basic skills, all the more so when agents are limited by partial-observability constraints. This paper addresses the problem of autonomous agent navigation under partial-observability constraints by using a novel approach: Artificial Potential Fields (APF) assisted by heuristics. The well-known problem of local minima is addressed by providing the agents with the ability to make individual choices that can be exploited in a swarm. We propose a new potential function, which provides precise control of the potential field’s reach and intensity, and the use of auxiliary heuristics provides temporary target points while the agent explores, in search of the position of the real intended target. Artificial Potential Fields, together with auxiliary search heuristics, are integrated into a novel navigation model for autonomous agents who have limited or no knowledge of their environment. Experimental results are shown in 2D scenarios that pose challenging situations with multiple obstacles, local minima conditions and partial-observability constraints, clearly showing that an agent driven using the proposed model is capable of completing the navigation task, even under the partial-observability constraints.