Efficient robotic path planning algorithm based on artificial potential field

<span lang="EN-US">Path planning is crucial for a robot to be able reach target point safely accomplish given mission. In path planning, three essential criteria have considered namely length, computational complexity and completeness. Among established methods are voronoi diagram (VD), cell decomposition (CD), probability roadmap (PRM), visibility graph (VG) potential field (PF). The above-mentioned could not fulfill all simultaneously which limits their application in optimal real-time planning. This paper proposes PF-based algorithm called dynamic artificial PF (DAPF). proposed capable of eliminating the local minima that frequently occurs conventional while fulfilling criterion DAPF also integrates pruning shorten planned path. order evaluate its performance, has been simulated compared with VG terms length complexity. It found consistent generating paths low computation time obstacle-rich environments VG. produced nearly respect VG.</span>