Abstract:

The artificial potential field method is used in mobile robot path planning extensively because of its simpleness, high efficiency and smooth path. In this paper, the principle of path planning based on artificial potential field model was introduced and its main shortage is also analyzed detailedly. Then, the methods of resolution to the main problems are discussed, which contain GNRON, loiter and jitter phenomenon and poor adaptive ability in dynamic environment. Finally, technology development trends of robot path planning based on artificial potential field are given.

Key words: mobile robot;path planning;artificial potential field;local minima