Non-trap Artificial Potential Field Based on Virtual Obstacle

This paper first describes the inherent problems of artificial potential field and analyzes their causes. Then, aiming at the problem of local minimum trap, the virtual obstacle method is proposed to repel mobile robot from traps. Next, in order to solve the chattering phenomenon, a geometric method is proposed to ensure that the route is relatively smooth. Finally, computer simulations are carried out to demonstrate the effectiveness of these two methods.