A new adaptive artificial potential field and rolling window method for mobile robot path planning

Abstract

The artificial potential field (APF) method is a classical path planning algorithm for mobile robots. Although the artificial potential field method is simple, it still has some defects, which limit the scope of its application. In this paper, we propose an adaptive repulsive potential function to solve the problem, goals nonreachable with obstacles nearby (GNRON). Then, the adaptive artificial potential field (AAPF) combined with the rolling window method is used to solve the local-minima problem and can be used for the path planning in dynamic environment.