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Research on Path Planning of Logistics Storage Robot Based on Fuzzy Improved Artificial Potential Field Method

In: Liss 2020

Author

Listed:
  • Guanyi Liu

    (Beijing Institute of Graphic Communication)

  • Yanping Du

    (Beijing Institute of Graphic Communication)

  • Xinyue Li

    (Guilin University of Electronic Technology)

  • Shuihai Dou

    (Beijing Institute of Graphic Communication)

Abstract

In the complex and dynamic environment of logistics storage, obstacles have randomness and uncertainty. The traditional artificial potential field method has some problems in the process of path planning, such as inaccessibility and poor real-time performance, which can not meet the working performance requirements of logistics storage robot. In order to solve the problem that the target of traditional artificial potential field method is not reachable, the original repulsion potential field function is improved by introducing a distance adjustment factor to help the logistics storage robot reach the target point smoothly; then the new repulsion function is obtained by introducing the relative speed and acceleration between the robot and the obstacle, and the coefficient of repulsion function is adjusted in real time by combining the fuzzy logic control algorithm. Finally, the simulation experiment is carried out by MATLAB. The experimental results show that the artificial potential field method is feasible and effective in path planning.

Suggested Citation

  • Guanyi Liu & Yanping Du & Xinyue Li & Shuihai Dou, 2021. "Research on Path Planning of Logistics Storage Robot Based on Fuzzy Improved Artificial Potential Field Method," Springer Books, in: Shifeng Liu & Gábor Bohács & Xianliang Shi & Xiaopu Shang & Anqiang Huang (ed.), Liss 2020, pages 263-277, Springer.
    • Handle: RePEc:spr:sprchp:978-981-33-4359-7_19
    DOI: 10.1007/978-981-33-4359-7_19
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