Research of Robot Path Planning Based on Improved Artificial Potential Field

Abstract

Abstract. Though the artificial potential field applying to the path planning of mobile robot has the advantages of rapid respondent speed, small computation and real-time property, there are still problems such as the goal unreachable and existence of a local minimum point value, thus the improved artificial potential field is proposed in this paper. Considering the relative distance between the robot and the goal the improved algorithm adopts the improved potential function to make sure that the goal is the global minimum of the whole potential field. The repulsion direction is modified to avoid the robot suffers into local minimum, so the robot can reach the goal freely. The simulation results show that the robot can get a smooth and no touching optimal path in the environment of many obstacles. The effectiveness of the improved algorithm is verified.