Automatic Guided Vehicle Path Planning Based on Artificial Potential Field - Beetle Antennae Search Algorithm

The conventional potential field method has the problem that easily falling into local minima, in order to overcome this defect, this paper proposes an artificial potential field-beetle antennae search algorithm, so that the automatic guided vehicle can escape from the local minimum and reach the destination. In addition, the initial path is fitted using Bessel curves to improve the smoothness and reduce the number of turns. At last, in order to verify the performance of the improved algorithm, experiments are run in MATLAB to compare it with the RRT algorithm and RRT-Connect algorithm. The results show that the improved algorithm has better performance than the above algorithms in the same experimental environment.