The artificial potential field method has been extensively used in mobile robot path planning for its characteristics of simpleness, high efficiency, and smooth path. In this paper, to solve the problem of local minima in traditional artificial potential field method, A modified form of repulsion function is proposed. A detour force is added to the repulsion function, the problem of local minima can be solved effectively. In the end, with the help of Matlab software simulating, the result shows that this method is simple and effective.
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Zhang et al. (2014) studied this question.