A hybrid path planning method for mobile robot based on artificial potential field method

Abstract

This paper proposes a hybrid path planning method based on artificial potential field method (APF) for mobile robot, which combines wall following method (WFM) and obstacles connecting method (OCM) for dealing with local minimum. The environment information is took into consideration to decide the escape direction of WFM. To ensure the success of escaping from local minimum, more reliable switching conditions are designed. OCM is applied to reduce the difficulty of path planning for complex workspace with concave obstacles. Simulation studies have been carried out to verify the validity of the proposed method.