Non-oscillation Path Planning Based on Artificial Potential Field

Considering that the mobile robot is not flexible enough, in order to avoid the oscillating motion of the robot with repeated steering changes, when encountering obstacles in front, according to the rule that each deflection to the right is not more than 5 degrees, an improved forced resultant force deflection method and virtual obstacle adding method are proposed to solve the local minimum problem and avoid the occurrence of oscillation, which need not get the characteristics after the oscillation for the condition of virtually adding obstacles. The simulation results show that there is no oscillation in different obstacle environments, and the path is smooth without the local minimum problem. By virtually adding multiple obstacles, the robot can quickly leave the dense obstacles.