Abstract: In uncertain and complicated mobile environment,the use of traditional artificial potential field method for robot obstacle avoidance is difficult to meet the needs of the dynamic adaptation to the environment. An improved artificial potential field method of relative spead was proposed.To solve the problem of local minimum in the traditional path planning,the improved artificial potential field method put forward setting intermediate target.An external force is givento the robot to avoid robots stopping or wandering in a local minimum point.It ensures that the robot can escape from the minimum trap and smoothly arrive at the target location.Finally,in the Matlab platform,to verify the effectiveness of the method,simulation experiment was carried out.The experimental results show that the improved artificial potential field method can well realize the path planning for mobile robot in dynamic environment.

Key words: Artificial potential field method,Obstacle avoidance,Intermediate target,Path planning