Mobile Robots Path Planning Based on Evolutionary Artificial Potential Fields Approach

Abstract—This paper presents a new way for mobile robots’ path planning which is based on the Evolutionary Artificial Potential Fields(EAPF) approach. The APF theory is a traditional method to plan path for a robot. The Evolutionary APF aims at helping a robot jump out of the local minimum point. Using a virtual goal to produce extra force and fixing the direction of the repulsive force are combined to prompt the robot to escape from the obstacle in different situations. The simulation result shows that the evolutionary method is effective for solving the local minimum problem. Keywords-virtual goal; artifical potential fields; local minimum point; matrix; path planning I