Real time path planning of mobile robot in dynamic world based on improved artificial potential field

Abstract

A path-planning method in dynamic surroundings which was based on improved artificial potential field was proposed in this paper.Because the exact movement information was hard to acquire,it is difficult to finish path planning of mobile robots in dynamic world.Searching the moving goal by gradient approximation method,the unreachable problem be solved.The results of simulation have verified that the method can solve the problem effectively,even though there are stochastic moving obstacles in the surroundings.