Skip to main content
Springer Nature Link
Log in

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

  • Conference paper
  • First Online:
LISS 2020

  • 911 Accesses

  • 3 Citations

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.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
€34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
EUR 29.95
Price includes VAT (Germany)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
EUR 160.49
Price includes VAT (Germany)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
EUR 213.99
Price includes VAT (Germany)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
EUR 213.99
Price includes VAT (Germany)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

') var buybox = document.querySelector("[data-id=id_"+ timestamp +"]").parentNode var buyingOptions = buybox.querySelectorAll(".buying-option") ;[].slice.call(buyingOptions).forEach(initCollapsibles) var buyboxMaxSingleColumnWidth = 480 function initCollapsibles(subscription, index) { var toggle = subscription.querySelector(".buying-option-price") subscription.classList.remove("expanded") var form = subscription.querySelector(".buying-option-form") var priceInfo = subscription.querySelector(".price-info") var buyingOption = toggle.parentElement if (toggle && form && priceInfo) { toggle.setAttribute("role", "button") toggle.setAttribute("tabindex", "0") toggle.addEventListener("click", function (event) { var expandedBuyingOptions = buybox.querySelectorAll(".buying-option.expanded") var buyboxWidth = buybox.offsetWidth ;[].slice.call(expandedBuyingOptions).forEach(function(option) { if (buyboxWidth buyboxMaxSingleColumnWidth) { toggle.click() } else { if (index === 0) { toggle.click() } else { toggle.setAttribute("aria-expanded", "false") form.hidden = "hidden" priceInfo.hidden = "hidden" } } }) } initialStateOpen() if (window.buyboxInitialised) return window.buyboxInitialised = true initKeyControls() })()

Institutional subscriptions

Similar content being viewed by others

References

  1. S.T. Zhao, X. Jia, Research progress and trend of intelligent manufacturing and its core information equipment. Mech. Sci. Technol. Aerosp. Eng. 36(1), 1–16 (2017)

    Google Scholar 

  2. W.R. Shi, X.H. Huang, W. Zhou, Path planning for mobile robots based on improved artificial potential field method. J. Comput. Appl. 30(8), 2021–2023 (2010)

    Google Scholar 

  3. Z.Y. Feng, Soil suitability evaluation based on bp artificial neural network: the case of Jiangxia district. Environ. Eng. Manage. J. 17(1), 229–235 (2018)

    Article  Google Scholar 

  4. D. Wu, Y. Liu, K. Zhou, K. Li, J. Li, A multi-objective particle swarm optimization algorithm based on human social behavior for environmental economic dispatch problems. Environ. Eng. Manage. J. 18(7), 1599–1607 (2019)

    Article  Google Scholar 

  5. O. Khatib, Real-time obstacle avoidance for manipulators and mobile robots. Int. J. Robot. Res. 5(1), 90–98 (1986)

    Article  Google Scholar 

  6. H.S. Min, Y.H. Lin, S.J. Wang, Path planning of mobile robot by mixing experience with modified artificial potential field method. Adv. Mech. Eng. 7(12), 1–17 (2015)

    Article  Google Scholar 

  7. S. Fazli, L. Kleeman, Wall following and obstacle avoidance results from a multi-DSP sonar ring on a mobile robot, in Niagara Falls: Proceedings of the IEEE International Conference on Mechatronics and Automation (2005), pp. 432–437

    Google Scholar 

  8. D.C. Chen, S. Li, L.F. Liao, A recurrent neural network applied to optimal motion control of mobile robots with physical constraints. Appl. Soft Comput. J. 85 (2019)

    Google Scholar 

  9. Z.K. Ying, Flight path planning of agriculture UAV based on improved artificial potential field method, in The 30th China Conference on Control and Decision-making

    Google Scholar 

  10. T. Liu, H.B. Li, Z.X. Duan, Path planning for mobile robots based on artificial force field. Comput. Simul. 197(11), 144–146 (2007)

    Google Scholar 

  11. F.C. Huo, J. Chi, Z.J. Huang, L. Ren, Q.J. Sun, J.L. Chen, Overview of path planning algorithms for mobile robots. J. Jilin Univ. (Inf. Sci. Edn.) 36(06), 639–647 (2008)

    Google Scholar 

  12. P.B. Zhang, Y.P. Zeng, Path planning for mobile robots based on improved artificial potential field method. Robot. Technol. Appl. 3, 27–29 (2018)

    Google Scholar 

  13. D.F. Li, H.B. Deng, Z.H. Pan, T. Peng, C. Wang, Trajectory tracking control law of snake robot avoiding obstacles in flow field based on improved snake curve. Robot 41(04), 433–442

    Google Scholar 

  14. R. Meng, W.J. Su, X.F. Lian, Path planning for mobile robots based on dynamic fuzzy artificial potential field method. Comput. Eng. Des. 31(07), 1558–1561 (2010)

    Google Scholar 

  15. J.Y. Liu, Research on obstacle avoidance algorithm of mobile robot based on artificial potential field method. Ph.D. dissertation, Central China Normal University, Wuhan, HB, China (2018)

    Google Scholar 

  16. W. Han, K.B. Sun, Intelligent omnidirectional vehicle path planning based on fuzzy artificial potential field method. Comput. Eng. Appl. 54(06), 105–109 (2008)

    Google Scholar 

  17. L.A. Ocampo, C.M. Himang, A. Kumar, M. Brezocnik, A novel multiple criteria decision-making approach based on fuzzy DEMATEL, fuzzy ANP and fuzzy AHP for mapping collection and distribution centers in reverse logistics. Adv. Prod. Eng. Manage. 14(3), 297–322 (2019)

    Google Scholar 

  18. M.W. Shen, Y.J. Yu, D.J. Yan, F.W. Hai, L.H. Bao, A new positioning method based on multiple ultrasonic sensors for autonomous mobile robot. Sensors (Basel, Switzerland) (1), 20 (2019)

    Google Scholar 

  19. G.I. Fragapane, C. Zhang, F. Sgarbossa, J.O. Strandhagen, An agent-based simulation approach to model hospital logistics. Int. J. Simul. Modelling 18(4), 654–665 (2019)

    Article  Google Scholar 

Download references

Acknowledgements

This work was supported by the Scientific Research Program of Beijing Education Commission under Grant KM201910015004.

Author information

Authors and Affiliations

  1. School of Mechanical and Electrical, Beijing Institute of Graphic Communication, Beijing, China

    Guanyi Liu, Yanping Du & Shuihai Dou

  2. School of Architecture and Transportation, Guilin University of Electronic Technology, Guilin, China

    Xinyue Li

Authors
  1. Guanyi Liu
    View author publications

    Search author on:PubMed Google Scholar

  2. Yanping Du
    View author publications

    Search author on:PubMed Google Scholar

  3. Xinyue Li
    View author publications

    Search author on:PubMed Google Scholar

  4. Shuihai Dou
    View author publications

    Search author on:PubMed Google Scholar

Corresponding author

Correspondence to Shuihai Dou .

Editor information

Editors and Affiliations

  1. Beijing Jiaotong University, Beijing, China

    Shifeng Liu

  2. Budapest University of Technology and Economics, Budapest, Hungary

    Gábor Bohács

  3. Beijing Jiaotong University, Beijing, China

    Xianliang Shi

  4. International Center for Informatics Research, Beijing Jiaotong University, Beijing, China

    Xiaopu Shang

  5. Beijing Logistics Informatics Research Base, Beijing Jiaotong University, Beijing, China

    Anqiang Huang

Rights and permissions

Reprints and permissions

Copyright information

© 2021 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Liu, G., Du, Y., Li, X., Dou, S. (2021). Research on Path Planning of Logistics Storage Robot Based on Fuzzy Improved Artificial Potential Field Method. In: Liu, S., Bohács, G., Shi, X., Shang, X., Huang, A. (eds) LISS 2020. Springer, Singapore. https://doi.org/10.1007/978-981-33-4359-7_19

Download citation

Publish with us

Policies and ethics