A path Planning of mobile robot based on improved artificial potential field method

Abstract

Artificial potential field methods has been widely used in path planning of mobile robots for reaction quickly, a small amount calculation and real-time. Analysis of the traditional artificial potential field failed in path planning due to the local minimum and the possible local minimum area of the external obstacles on the geometry. Proposed a method of adding guiding point and increment way of making the robot can quickly escape from it and move to the target. The simulation successfully in the complex environment proves the efficient of this method.