A modified artificial potential field algorithm for mobile robot path planning

Abstract

A modified APF (artificial potential field) based method is proposed for mobile robot path planning. To address the local minima problem in the classical APF, a method composed of robot regression and potential field filling is proposed. Futhermore, by adjusting potential field in the environment dynamically, the collision problem is also well settled. Simulation experiments, in which eight sonar transmitters are supposed to be used for environment measurement, are carried out to verify the performance of the path planning method proposed in the paper. The simulation results show that the modified APF has a better performance than the classical APF in an unknown environment.