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

As a classical path planning algorithm for mobile robots, artificial potential field method still has some flaws in some application scenarios. In this paper, we improve the artificial potential field method from two aspects to deal with these problems. The hyperbolic tangent function of the distance from the target to the robot is used to improve the repulsive force field to tackle the problem of the unreachable target point near obstacles. A behavior-based strategy based on collision cone is proposed to cope with the local minima problem. Simulation results prove that the improved method is effective.