Research on Path Planning of Mobile Robot with a Novel Improved Artificial Potential Field Algorithm

<table class="table-group" id="tab5"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">Algorithm</td><td class="align_center">Obstacles</td><td class="align_center">Stop point</td><td class="align_center">Number of iterations</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">APF</td><td class="align_center">(3, 2), (3, 4), (7, 9), (8, 7) (12, 11.5)</td><td class="align_center">(11.6, 12.3)</td><td class="align_center"><span style="width: 13.4094ptpx;"><svg height="6.1673pt" id="M32" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 13.4094 6.1673" width="13.4094pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M983 225C983 348 891 448 766 448C646 448 579 377 521 276C458 383 382 448 256 448C165 448 37 373 37 208C37 98 119 -12 256 -12C375 -12 440 60 498 161C561 53 639 -12 766 -12C865 -12 983 64 983 225ZM478 196C428 106 365 21 266 21C183 21 129 114 129 240C129 353 183 415 244 415C352 415 420 301 478 196ZM889 204C889 66 838 21 776 21C666 21 598 135 540 241C590 331 655 415 754 415C842 415 889 320 889 204Z"></path></g></svg></span></td></tr><tr><td class="align_left">IAPF</td><td class="align_center">Dittos</td><td class="align_center">(12, 12)</td><td class="align_center">118</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Simulation results of target unreachable.</div>

Mathematical Problems in Engineering

tab5

Table 5

Table 5: Research on Path Planning of Mobile Robot with a Novel Improved Artificial Potential Field Algorithm 