关键词: 移动机器人, 路径规划, 人工势场法, 局部最小值

Abstract: This paper utilized an improved artificial potential field to solve the problem of Goals Nonreachable with Obstacle Nearby （GNON）. The improved artificial potential field adopted the improved potential function that ensured the goal is the global minimum so the robot can reach the goal freely. To address the local minimum problem in classical potential field method, a method composed of obstacles connection and discrete model of sensor of robot was proposed. The improved method was adaptable to path planning of robots in complex indoor environment. The effectiveness of the improved algorithm was verified by simulation.

Key words: mobile robot, path planning, artificial potential field, local minimum