Path planning of mobile robot based on modified artificial potential field method

Abstract

A novel modified repulsion function method of artificial potential field algorithm has been proposed for mobile robot path planning.A weighted factor was added to the repulsion function,and the obstacles effective scope was divided into different range according to their distance to the robot,then the problem of the target inaccessible was resolved and the robot could reach the target smoothly.The modified algorithm was applied to the path planning of mobile robot, and the Matlab software was used to simulate the method.Simulation results showed that the method was simple and effective.