Application of improved artificial potential field approach in local path planning for mobile robot

Abstract

To solve the local path planning failure problem of mobile robot using traditional artificial potential field(APF) method,this paper analysises the reasons that lead to the failure in planning due to the local minimum problem.Based on the improved potential field function,this paper proposes a new method to solve this problem.The local minimum problem of the APF can be solved through adding a virtual goal for mobile robot to escaping local minimum.The simulation result in Mobotsim proves the effectiveness and feasi-bility of this method.