Motion planning for mobile robots based on improved artificial potential field algorithm
Wei Zhang, Lili Yu, Huimin Ouyang, Xiaodong Miao · IET conference proceedings. · 2025
The artificial potential field approach has been extensively utilized in autonomous robot path planning, primarily due to its straightforward mathematical formulation. However, much of the research to date has concentrated on static environments, where neither the goal nor obstacles exhibit movement. This paper introduces an improved artificial potential field algorithm designed for dynamic environments by incorporating rotational vector. The proposed approach employs attractive forces to steer the robot towards its goal, while rotational repulsion mechanisms ensure effective obstacle avoidance when dealing with moving objects. Simulation outcomes demonstrate the efficacy of the enhanced method in dynamic scenarios.