Local Path Planning Algorithm Based On Artificial Potential Field With Adaptive Scaling Factor

The paper presents an adaptive local path planner based on the Artificial Potential Field algorithm and the WidrowHoff rule. The proposed algorithm maintains the required distance from obstacles. The limitation of the scaling factor of repulsive potential allows for proper continuous operation. It provides smooth, collision-free, and goal-reaching operation of mobile robots. The impact of adaptation gain and the required distance from obstacles on robot movement have been examined in randomly generated environments.