This article presents a novel approach to mobile robot path planning using the Artificial Potential Field (APF) strategy. Traditional APF methods have been problematic due to local minima and exploding derivatives near obstacles. To resolve these issues, the authors propose using exponential functions to modify potential field formulas. These modifications result in subharmonic potential functions, which do not have local minima and have mild derivative increases near obstacles. This method, combined with a circular sampling technique, allows for successful and smooth path construction in simulations.
Publication date: 20 Feb 2024
Project Page: Not provided
Paper: https://arxiv.org/pdf/2402.11601
