A hybrid algorithm based on Artificial Potential Field and BUG for path planning of mobile robot

A hybrid algorithm based on the Artificial Potential Field and Bug algorithm (APF-B) is developed in this paper. It is applied to the path-planning problem of mobile robot. The potential field function is modified to deal with the GNRON (Goal Non Reachable with Obstacle Nearby) problem. A BUG algorithm is introduced into the Artificial Potential Field to escape from the local minima. The convergence of this hybrid algorithm is verified. Finally, the simulated experiments show the validity of this approach.