Research of Path Planning for Mobile Robot Based on Evolutionary Artificial Potential Field

This paper propose an improved method for local extremum problems exist in path planning of mobile robot used traditional APF model.The method uses penalty function model to solve the problem of local constraints.Firstly,converting potential field models into optimization problems of the solution space.Secondly,adding penalty factor to establish a mathematical model.The new model can effectively makes the robot to escape local maximum point.At last,using MATLAB tool to simulate this method.The final simulation results show that the method is effective.