Path Planning Algorithm Based on an Improved Artificial Potential Field for Mobile Service Robots

The path planning is one of the significant domains in robotics. However, every algorithm for path planning has disadvantages. The classical Artificial Potential Field(APF) algorithm can plan a path for mobile robot. However, there are local minimum and vibration problems due to the algorithm's operation mechanism. The idea of improved algorithm is to make a turn when robot sinks into the local minimum or vibration region by setting a sub-goal, and avoid most vibration by setting a virtual anti-vibrate circle. Furthermore, the improved algorithm takes advantage of global model information to simplify the environment the robot is faced with in the path. The simulation results show that the improved algorithm plan a smoother and less vibrating path for the robot.