Research on obstacle avoidance path planning of electrical control robot in unknown environment

Abstract

Aiming at the problems of robot path planning with artificial potential field method, such as target unreachable and local minimum points, an improved artificial potential field method model is proposed. The obstacles in unknown environment are designed in the form of grid map, so that the robot can avoid obstacles and move towards the target through perception. Matlab GUI is used to set up a two-dimensional coordinate system environment including obstacles and target points, and the optimal trajectory movement simulation experiment is carried out from the initial position to the desired position in the plane map. Experiments show that the improved artificial potential field method can make the mobile robot navigate in unknown environment, avoid obstacles and find the appropriate path, so as to achieve the requirement of collision free. The simulation results are close to the expected results, which shows that this method can effectively improve the feasibility of path planning and the effectiveness of obstacle avoidance of mobile robot in unknown environment.