Algorithm Research Of Path Planning For Robot Based On Improved Artifical Potential Field

The artificial potential field(APF) is a common local path planning method for the mobile robot.The matter what leads to failure with the local minimum problem in the planning of traditional APF is discussed.By studying the improved potential field function method,it is found that the method couldn't solve all local minimum problems. On the basis of the improved potential field function,this paper modifies the repulsion direction in order to solve three types of typical local minimum problems of the traditional APF.The repulsive function is composed of two parts,one's direction is tangency with the control area of the obstacle and the angle between gravitation and repulsion is not more than 90 degrees while the other's direction is consistent with the gravitation.In this way,the resultant force of the robot couldn't be zero before it reaches the goal.This method can overcome the local minimum problem for the resultant force of the robot being zero before it reaches the goal.And the simulation result with MATLAB proves the effectiveness of this method.