Improved Artificial Potential Field and Dynamic Window Method for Amphibious Robot Fish Path Planning

Aiming at the problems of “local minimum” and “unreachable target” existing in traditional artificial potential field method path planning, an improved was proposed after analyzing fundamental causes above problems. The solved problem local minimum by modifying direction influence range gravitational field, increasing virtual target evaluation function, unreachable targets is gravity. In view change motion state robot fish amphibious environments, fused with a dynamic window algorithm, function optimal designed on basis establishing equations land underwater. Then, simulation experiment under environment Matlab2019a. Firstly, methods were compared. results showed that could solve two well, shorten operation time length, have high efficiency. Secondly, different modes planning verified, result also reflects can avoid obstacles flexibly reach point accurately according to its own ability. This paper provides new way for robot.