Robot Path Planning Based on Artificial Potential Field Approach with Simulated Annealing

摘要

The artificial potential field (APF) approach provides a simple and effective motion planning method for practical purpose. However, artificial potential field approach has a major problem, which is that the robot is easy to be trapped at a local minimum before reaching its goal. The avoidance of local minimum has been an active research topic in path planning by potential field. In this paper, we introduce several methods to solve this problem, emphatically, introduce and evaluate the artificial potential field approach with simulated annealing (SA). As one of the powerful techniques for escaping local minimum, simulated annealing has been applied to local and global path planning