Abstract
The artificial potential field approach is a traditional method that is frequently used for local path planning, but in order for it to be successful, it requires more than unreachable target sites, local minimums, and oscillation difficulties. An enhanced method that is based on discretized sampling was presented as a potential solution to these issues as a result of this information. In the first place, a decision must be made regarding whether or not to enter the local minimum mark. In order to free ourselves from the confines of the local minimum, we subsequently devised a motion that was perpendicular to the direction in which the object was being moved. In the end, a regression search is carried out in order to further hone in on the correct path. The results of the simulation show that this method is capable of efficiently handling the local minimum problem and providing appropriate paths, as demonstrated by a comparison between the conventional method and the enhanced method.
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