{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,26]],"date-time":"2026-03-26T21:49:35Z","timestamp":1774561775895,"version":"3.50.1"},"reference-count":40,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2024,6,3]],"date-time":"2024-06-03T00:00:00Z","timestamp":1717372800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["61873101"],"award-info":[{"award-number":["61873101"]}]},{"name":"National Natural Science Foundation of China","award":["2020D-5007-0305"],"award-info":[{"award-number":["2020D-5007-0305"]}]},{"name":"National Natural Science Foundation of China","award":["JJ-2020-719-03-02"],"award-info":[{"award-number":["JJ-2020-719-03-02"]}]},{"name":"PetroChina Innovation Foundation","award":["61873101"],"award-info":[{"award-number":["61873101"]}]},{"name":"PetroChina Innovation Foundation","award":["2020D-5007-0305"],"award-info":[{"award-number":["2020D-5007-0305"]}]},{"name":"PetroChina Innovation Foundation","award":["JJ-2020-719-03-02"],"award-info":[{"award-number":["JJ-2020-719-03-02"]}]},{"name":"Marine Defense Technology Innovation Center Innovation Fund","award":["61873101"],"award-info":[{"award-number":["61873101"]}]},{"name":"Marine Defense Technology Innovation Center Innovation Fund","award":["2020D-5007-0305"],"award-info":[{"award-number":["2020D-5007-0305"]}]},{"name":"Marine Defense Technology Innovation Center Innovation Fund","award":["JJ-2020-719-03-02"],"award-info":[{"award-number":["JJ-2020-719-03-02"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The artificial potential field method has efficient obstacle avoidance ability, but this traditional method suffers from local minima, unreasonable paths, and sudden changes in heading angles during obstacle avoidance, leading to rough paths and increased energy consumption. To enable autonomous mobile robots (AMR) to escape from local minimum traps and move along reasonable, smooth paths while reducing travel time and energy consumption, in this paper, an artificial potential field method based on subareas is proposed. First, the optimal virtual subgoal was obtained around the obstacles based on the relationship between the AMR, obstacles, and goal points in the local environment. This was done according to the virtual subgoal benefit function to solve the local minima problem and select a reasonable path. Secondly, when AMR encountered an obstacle, the subarea-potential field model was utilized to solve problems such as path zigzagging and increased energy consumption due to excessive changes in the turning angle; this helped to smooth its planning path. Through simulations and actual testing, the algorithm in this paper demonstrated smoother heading angle changes, reduced energy consumption, and a 10.95% average reduction in movement time when facing a complex environment. This proves the feasibility of the algorithm.<\/jats:p>","DOI":"10.3390\/s24113604","type":"journal-article","created":{"date-parts":[[2024,6,3]],"date-time":"2024-06-03T05:58:00Z","timestamp":1717394280000},"page":"3604","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Localized Path Planning for Mobile Robots Based on a Subarea-Artificial Potential Field Model"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0009-0009-9330-2473","authenticated-orcid":false,"given":"Qiang","family":"Lv","sequence":"first","affiliation":[{"name":"School of Electrical and Electronic Engineering, Wuhan Polytechnic University, Wuhan 430048, China"}]},{"given":"Guoqiang","family":"Hao","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, Wuhan Polytechnic University, Wuhan 430048, China"}]},{"given":"Zhen","family":"Huang","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, Wuhan Polytechnic University, Wuhan 430048, China"}]},{"given":"Bin","family":"Li","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering, Wuhan Polytechnic University, Wuhan 430023, China"}]},{"given":"Dandan","family":"Fu","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering, Wuhan Polytechnic University, Wuhan 430023, China"}]},{"given":"Huanlong","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, Wuhan Polytechnic University, Wuhan 430048, China"}]},{"given":"Wei","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, Wuhan Polytechnic University, Wuhan 430048, China"}]},{"given":"Sheng","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, Wuhan Polytechnic University, Wuhan 430048, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,6,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Yin, X., Cai, P., Zhao, K., Zhang, Y., Zhou, Q., and Yao, D. 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