Improving the artificial potential field by A-star to solve the  local minima problem

Dengjiang Wu

doi:10.54254/2755-2721/11/20230201

Research Article

Open access

Published on 25 September 2023

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Wu,D. (2023). Improving the artificial potential field by A-star to solve the local minima problem. Applied and Computational Engineering,11,34-39.

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Improving the artificial potential field by A-star to solve the local minima problem

Dengjiang Wu *^,1,

¹ The University of Sheffield

* Author to whom correspondence should be addressed.

https://doi.org/10.54254/2755-2721/11/20230201

Abstract

This paper discusses the method for artificial potential field in traditional sense. It is based on the algorithm with the planning of physics that guides a robot along a gradient toward a target endpoint by applying forces with gravitation and repulse within a robot environment. The article proposes to improve the potential field method by incorporating the A-star algorithm for the improvement of path planning in accuracy and efficiency. The A-star algorithm uses a cost function to measure the goodness of a node and finds the optimal path totally and thoroughly through heuristic search. The proposed method uses the A-star algorithm to generate the optimal path, which takes potential field and its method as basis, thus repeating the process until the robot reaches the end point. By combining the A-star algorithm and the method based on artificial potential field, the robot's driving route is made more reasonable, and thus testing and verifying how the method works through an experiment with simulation.

Keywords

traditional artificial potential field method, A-star algorithm, path planning.

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References

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Cite this article

Wu,D. (2023). Improving the artificial potential field by A-star to solve the local minima problem. Applied and Computational Engineering,11,34-39.

Data availability

The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.

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About volume

Volume title: Proceedings of the 2023 International Conference on Mechatronics and Smart Systems

Conference website: https://2023.confmss.org/

ISBN：978-1-83558-011-0(Print) / 978-1-83558-012-7(Online)

Conference date: 24 June 2023

Editor：Alan Wang, Seyed Ghaffar

Series: Applied and Computational Engineering

Volume number: Vol.11

ISSN：2755-2721(Print) / 2755-273X(Online)

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