Analysis and comparison of improved artificial potential field method and A* in complex obstacle environment

Abstract

In order to improve the efficiency of the mobile robot and select a better path planning algorithm suitable for obstacle scenes, the artificial potential field method ( APF ) based on the annealing algorithm and A* algorithm are compared under different obstacles. The two algorithms are simulated in three different complexity scenarios. The results show that the two algorithms perform well in the narrow channel at the target point, in the single model with fewer obstacles, the artificial potential field method has fewer corners and shorter paths. For L-shaped and hill-shaped complex scenes, A* can accurately find shorter paths, and the artificial potential field method is prone to fall into local traps, however, the relatively simple obstacles can be handled by the annealing algorithm.