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

Guanyi Liu (), Yanping Du (), Xinyue Li () and Shuihai Dou ()
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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

A chapter in LISS 2020, 2021, pp 263-277 from Springer

Abstract: 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.

Keywords: Artificial potential field method; Fuzzy logic control; Logistics storage robot; Path planning (search for similar items in EconPapers)
Date: 2021
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-981-33-4359-7_19

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DOI: 10.1007/978-981-33-4359-7_19

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