Study of local path planning of mobile robot based on improved artificial potential field method

摘要

The artificial potential field(APF) is a common local path planning method for the mobile robot.The matters what leads to failure in the planning of traditional APF because of the local minimum problem is discussed,and an improved artificial potential method is proposed.By simulating experiment,the improved potential field function method couldn't solve all local minimum problems.An adding extra control force method is proposed,extra control force depending on obstacle is applied on mobile robot which can make it out of local minimum,and the simulation result proves the efficient of this method.