Path planning research for mobile robot based on the circle scanning method

This paper proposes an improved artificial potential fields (APF) method for the path planning of mobile robot. The new method is based on the circle scanning and can overcome the shortcomings of goal nonreachable and robot impassable in the case of obstacles closing each other. Instead of changing the potential field function of the repulsive force in traditional APF methods, the improved APF applies the circle scanning method combining with the potential field function to search the optimal point in the path. This method can avoid collision with obstacles and reach the goal. The simulation result illustrates the effectiveness of the proposed method.