An improved Artificial Potential Field approach to real-time mobile robot path planning in an unknown environment

Abstract

This paper deals with the navigation of a mobile robot in an unknown environment. The approach developed is based on the Artificial Potential Field (APF) method in which the target creates a virtual potential that attracts the robot while obstacles create a virtual potential that repels the robot. A new form of repelling potential is proposed in order to reduce oscillations and to avoid conflicts when the target is close to obstacles. A rotational force is integrated as well, allowing for a smoother trajectory around the obstacles. Experiment results show the effectiveness of the proposed approach.