A method of terminal angle modification based on artificial potential field

The problem of the terminal angle planning of the traditional artificial potential field method is discussed in this paper. And a terminal angle planning method is proposed. With the dynamic gravitational point, the artificial potential field method is modified to acquire the desired terminal angle, which makes up for the problem that the angle cannot be changed when the path is planned by the artificial potential field method. This method can be applied to the path planning problem such as soccer robot which requires the terminal angle. And the feasibility of the method is verified by Matlab simulation.