资 源 简 介
Traditional artificial potential field: The artificial
potential field method assumes the robot moving in an abstract artificial force
field. The artificial field is consisted of repulsive potential field
and attractive potential field in the workspace. The
potential force has two components: attractive force and repulsive force. The
goal position produces an attractive force which makes the mobile robot move
towards it. Obstacles generate a repulsive force, which is
inversely proportional to the distance from the robot to obstacles and is
pointing away from obstacles. the robot moves from high to low potential field
along the negative of the total potential field. Consequently, the robot moving
to the goal position can be considered from a high-value state to a low-value
state.
