A path planning algorithm using artificial potential field based on probability map

Path planning problem is the major issue of the control of mobile robot. Among the path planning methods the artificial potential field theory is widely used for mobile robots, because it provides simple and effective motion control input. But sometimes it is hard to detect exact obstacle shape, because some obstacle can move itself, thus we can detect its probability only. So we suggest the path planning method using potential field with the probability information. After that we simulate our algorithm and show the results.