How to avoid the local minima problem in mobile robot control and execute it in matlab

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Abhibrata Adhikary 2018-7-1

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https://ww2.mathworks.cn/matlabcentral/answers/408319-how-to-avoid-the-local-minima-problem-in-mobile-robot-control-and-execute-it-in-matlab

评论： Walter Roberson 2018-7-1

I am working on mobile robot control using potential field and wanted to implement the local minima issue and how to overcome that issue. I have written code for a normal mobile robot control. I have two obstacles very close to each other and when executing the code, the robot gets stuck there and not able to each the final point. Can someone help me with it. I can send you the code over the email address. Please let me know. Thank you in advance.

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Abhibrata Adhikary 2018-7-1

I didn't get it sir.

Walter Roberson 2018-7-1

在 MATLAB Online 中打开

Suppose you start at the location marked s and you need to get to A, and the 1's, 2's, and 3's are the cost of movement with 3 being more expensive. Then if you use an algorithm that always chooses lowest cost, then you would immediately move to the right from the s because the 2 there is cheaper than the 3's that are otherwise around s. And once you have moved to the first 2, then a greedy algorithm would keep moving further right along the 2's, because at each point, doing so would be less expensive than "climbing the hill" of 3's. Eventually you get to the ring of 1's around B. Following the 1's around B is less expensive on any one step than "climbing the hill" of 2 or 3's to head back towards A, so a greedy algorithm would never be able to get back to A.

You might perhaps have an algorithm that is not permitted to re-visit any location it has already visited. If so, then let * indicate a wall that cannot be passed:

     11133333*3111
     1A13s222221B1
     11133333*3111

the greedy algorithm would get to B, follow the ring around once, and get to one of the two *3's. But once there, they would not be able to go back to the 2 that is