Robot Path Planning Adopting Improved Artificial Potential Field Method by Normal Random Particles
Zhongshan Luo, Dandan Liu, Jian Li, Yujie Feng · 2023
The robot path planning often fails when the traditional APF(Artificial Potential Field) method is applied. Because the local minimum problem often appears in APF method. Normal distribution random particles are introduced to solve the problem above. A series of random particles are generated around the local minimum path planning point. The cost function is newly defined to select the particle which is far from the obstacle and close to the target point. The selected particle is applied as the path planning point instead of the local minimum point. The validity of the improved APF algorithm is verified by simulation using the matplotlib module in Python scripts. The simulation results show that the algorithm is feasible.