Robot Static Path Planning Method Based on Deterministic Annealing

Heuristic calculation is an essential method to solve optimisation problems. However, its vast computing requirements limit real-time and online applications, especially in embedded systems with limited resources, such as mobile robots. This paper presents a robot path planning algorithm called DA-APF based on deterministic annealing. It derived from the artificial potential field can effectively local minimum problem of model established by method. The performance considerably improved introducing temperature parameters enhance function using annealing tempering methods. Moreover, optimal or near-optimal scheme given. A comprehensive case study performed heuristic methods, genetic simulated Simulation results show that performs well various static environments.