Research on multi-objective path planning of a robot based on artificial potential field method
by Hu Yunqiang; Ke Wende; Chang Lin; Leng Xiaokun
International Journal of Wireless and Mobile Computing (IJWMC), Vol. 15, No. 4, 2018

Abstract: Aiming at the shortcomings of traditional artificial potential field method, which easily falls into zero potential field in the case of complex obstacles and can't guarantee the optimal path, a multi-objective path planning based on artificial potential field method is proposed. The method takes the path length and path security as the optimisation targets, and the obstacle repulsion coefficient as the decision variable. The objective function is calculated by establishing the artificial potential field performance model, and the NSGA-II algorithm is used for multi-objective optimisation to obtain the optimal path. The flexibility of decision variables prevents the path from falling into zero potential field points, and multi-objective optimisation ensures path length and security optimisation. The simulation results prove the feasibility and superiority of the method.

Online publication date: Wed, 26-Dec-2018

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Wireless and Mobile Computing (IJWMC):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com