ROBOT LOCALIZATION AND PATH PLANNING BASED ON POTENTIAL FIELD FOR MAP BUILDING IN STATIC ENVIRONMENTS

In static environments, and regarding the landmarks also as obstacles in the given situation, this paper suggests a map building algorithm of simultaneous localization and path planning based on the potential field. The robot can locate its movement control discipline with the help of a potential field theory and by conducting simultaneous localization and mapping; besides, the following prediction and state estimation will be done based on predicted control law. With the method of path planning in the potential field, the minimum influential range of space obstacles with repulsive potential can be adjusted, which is in adaptation to the landmarks and environments in which the landmarks are simultaneously regarded as obstacles. The experiments show that the suggested algorithm, through which the robot can conduct simultaneous localization and mapping in the localized landmarks, is also at the same time used as an obstacle in environments. After analyzing relevant performance indicators, the suggested algorithm has been verified as consistent estimation.