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This letter proposes a novel local path planning algorithm called Safe Artificial Potential Field (SAPF). The algorithm uses the attractive potential for goal reaching as the original one. However, the repulsive potential is replaced by a general obstacle potential, equal to repulsive potential, vortex potential, or their superposition. Moreover, the analytical tuning procedure of SAPF is described in this letter. The proposed algorithm has been compared to the original Artificial Potential Field (APF), Vortex APF (VAPF), and Dynamic Window Approach (DWA). The comparison has been provided using both, simulational and experimental validation. The SAPF allows to avoid simple local minima, keep safety distance from obstacles and move through narrow corridors. The obtained results in the form of videos are attached as supplementary files.
Rafał Szczepański (Thu,) studied this question.