Path Planning of Mobile Robot Based on Improved Artificial Potential Field Method

An improved artificial potential field method is proposed to address the problems of target unreachability and falling into local minima in the path planning process of the traditional artificial potential field method. Firstly, the distance factor between the robot and the target point is introduced to solve the target unreachability problem; secondly, the robot is guided out of the local minima point by setting the virtual target point through the double-circle strategy; finally, in order to satisfy the continuity of robot velocity and acceleration, the resulting path is smoothed by using three uniform B-sample curves. The experimental results show that the improved algorithm can effectively solve the problems of target unreachability and falling into local minima in the traditional algorithm, and the smoothness of the path after the spline treatment is better compared with the original path.