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Local Path Planning Based on Improved Artificial Potential Field Using Fuzzy Repulsion Force for Robot
引入模糊斥力的改进人工势场法及机器人局部路径规划
2014
Journal of Electrical Engineering
引入模糊斥力的改进人工势场法及机器人局部路径规划
An improved artificial potential field method is proposed to solve the local minimum which exists in the traditional artificial potential field. First, on the basis of improving the attractive field and repulsive field functions of traditional artificial potential field, the problem on goals non-reachable with obstacles nearby (GNRON) is solved by determining the reasonable range of gain of gravitational field and repulsive field. Then, the fuzzy control algorithm is used to calculate the fuzzy
doi:10.12677/jee.2014.23007
fatcat:4gcj2fs4wnc2xaiu7b6vuhjvtq