The invention discloses a
firefighting movable
robot path
planning method and
system based on an improved artificial
potential field method. The method comprises the steps that a
fire point is acquired; the coordinate point of a
firefighting movable
robot near the
fire point is acquired; a target point is set, and a corresponding relation between the target point and the
firefighting movable robotis set up; environmental information is read, and
resultant force corresponding to the firefighting movable
robot is calculated through the improved artificial
potential field method; whether the firefighting movable
robot path gets into a local minimum point or not is judged, and if yes, the firefighting movable
robot path gets away from the local minimum point through a
simulated annealing algorithm, and then the
resultant force is calculated again; if not, the calculated
resultant force is sent to the corresponding firefighting movable robot, and whether the moved firefighting movable robot reaches the corresponding target point or not is judged; if the firefighting movable robot reaches the target point, fire extinguishing work is carried out; and if not, the
resultant force is calculated again. According to the firefighting movable
robot path planning method and
system, the problem that during artificial
potential field method path planning, the target cannot be reached, the firefighting movable robot gets into the local minimum point is solved, and meanwhile the firefighting movable robot avoids an obstacle and reaches the target point faster.