Research on mobile robot path planning based on improved artificial potential field

Abstract

Artificial potential field method is one of the commonly used path planning methods. This paper introduces the defects of U-shaped obstacle problem, narrow channel, Local minimum, GNRON. Repulsive force field reconstruction is used to reduce the U-shaped obstacles and to solve the problem that cannot pass narrow channel, using “change target point as the target line” to solve the local minimum problem, for GNRON we use “Reverse repulsion force field” to solve. The feasibility of the algorithm is proved by simulation and analysis.