Path planning of robot based on artificial potential field method

摘要

The development of robot technology is faster and faster with the continuous advancement of artificial intelligent technology, which plays a vital role in human lifestyle and social progress. This paper focuses on the application of the artificial potential field method in the case of static obstacles with unknown environmental information. The traditional artificial potential field method has the problem of local minimum. In order to solve this problem, the gravitational function and repulsive function in the traditional artificial potential field method are modified, and the concepts of safe distance and time distance detection method are added. It is proved by MATLAB simulation that in some cases, the modified artificial potential field method can bypass the local Minima and reach the destination smoothly.