Trajectory Planning Using Modified Artificial Potential Field Method

In this paper, the Modified Artificial Potential Field (MAPF) approach is used as a trajectory planning method for finding a collision-free trajectory for a non-holonomic mobile robot. The MAPF approach can overcome the main drawbacks of the traditional method, which is local minima, and the goal that is not reachable when an obstacle is nearby problems. Moreover, the method is applied to avoid dynamic obstacles. The adopted algorithms are compared to the traditional method with several simulation results. This latter show the effectiveness of the improvements for finding collision-free trajectory and reaching the target point.