A Hybrid Path Planning Method for Mobile Robot Based on Artificial Potential Field Method

  • Haiyi Kong
  • Chenguang YangEmail author
  • Zhaojie Ju
  • Jinguo Liu
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


This paper proposes a hybrid path planning method based on artificial potential field method (APF) for mobile robot, which combines wall following method (WFM) and obstacles connecting method (OCM) for dealing with local minimum. The environment information is took into consideration to decide the escape direction of WFM. To ensure the success of escaping from local minimum, more reliable switching conditions are designed. OCM is applied to reduce the difficulty of path planning for complex workspace with concave obstacles. Simulation studies have been carried out to verify the validity of the proposed method.


Artificial potential field method Wall following method Escape direction Switching conditions Obstacles connecting method 



This work was partially supported by National Nature Science Foundation (NSFC) under Grants 61861136009 and 61811530281.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Haiyi Kong
    • 1
  • Chenguang Yang
    • 1
    Email author
  • Zhaojie Ju
    • 2
  • Jinguo Liu
    • 3
  1. 1.College of Automation Science and EngineeringSouth China University of TechnologyGuangzhouChina
  2. 2.School of ComputingUniversity of PortsmouthPortsmouthUK
  3. 3.Institutes for Robotics and Intelligent ManufacturingChinese Academy of SciencesShenyangChina

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