Abstract
The artificial potential field (APF) method is widely used for autonomous mobile robot path planning due to its simplicity and mathematical elegance. However, most researches are focused on solving the path-planning problem in a stationary environment, where both targets and obstacles are stationary. This paper proposes a new APF method for path planning of mobile robots in a dynamic environment where the target and obstacles are moving. Firstly, the new force function and the relative threat coefficient function are defined. Then, a new APF path-planning algorithm based on the relative threat coefficient is presented. Finally, computer simulation and experiment are used to demonstrate the effectiveness of the dynamic path-planning scheme.
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