Path Planning based on Improved Artificial Potential Field Method

Abstract

The artificial potential field method is regarded as a widely used method in path planning. However, the application of artificial potential field method in path planning will lead to the problem of unreachable target, easy to fall into traps and low success rate. Aiming at these shortcomings, this paper improves the repulsion field function to solve the problem of unreachable target, and selects a virtual target point when it falls into a trap to make it escape the trap. The effectiveness of the method is verified by simulation.