Obstacle Avoidance Strategy of Improved APF Method in C-space

As human-robot integration problem attracts attentions, obstacle avoidance algorithm has become a concern for robots which achieves safety. This paper proposed an improved artificial potential field (APF) method which applies APF in C-space (C-APF). C-APF is brief and robust. Simulation results show the effectiveness of C-APF and its advantages with the traditional APF method was compared.