The Path Planning Research for Mobile Robot Based on the Artificial Potential Field

摘要

The Artificial potential field is a common local path planning method for the mobile robot.It has the advantages of rapid respondence,small computation and real-time property.The robot may stop moving and can't reach the goal for the problem of local minima.This paper presents a computer simulation for the problem of obstacle avoidance using the artificial potential field method.The result shows that the mobile robot can plan a smooth path successfully.At last,the research status and improved potential fields are discussed.