A Path Planning Algorithm Avoiding a Class of Local Minima in Artificial Potential Field

One of the main shortcomings of general artificial potential field method is local minimum.A reformative planning strategy is proposed for path planning.The main idea of the method is:the geometry outline of obstacle is reformed to convex for the agent to avoid local minima or enter local minima earlier.This will help reduce the path of agent and improve the control efficiency.The stability of the original system is kept unchanged.Finally the algorithm flow is given and the simulation results show that the route of agent is shorter by this method than common artificial potential field means.