Research about local path planning of moving robot based on improved artificial potential field

Abstract

This article is about artificial potential field (APF) used in moving robot path planning. However, due to the limitations of the algorithm, the robot is easy to fall into local minima destination unreachable during obstacle avoidance and target trends path planning. For this problem, we use “virtual obstacle” and “associate target” methods to improve APF, and successfully apply to robot path planning. Simulation results verify the feasibility of the algorithm.