Research on Path Planning Based on Artificial Potential Field Algorithm

Artificial potential field (APF) algorithm is widely used in path planning research because of its simple structure, good real-time performance and smooth path generated to solve the problem of obstacle avoidance in task space environment. Aiming at the problem of inaccessibility and local minimum of artificial potential field algorithm, a hybrid algorithm of piece wise repulsive potential function and virtual target point obstacle filling is proposed. The results show that improved APF algorithm can solve problems of traditional APF algorithm to a certain extent.