Study of Local Path Planning of Mobile Robot based on Improved Artificial Potential Field Method

摘要

This paper introduces a common method about local path planning of mobile robot—artificial potential field(APF),and discusses the matters what leads to failure in the planning of traditional APF because of the local minimum problem,and summarizes the methods which are used to solve this problem.And an improved method is emphasized introduced to solve the local minimum problem through the change of the potential field function of the repulsive force and the emulational results are given in this paper.