Smoothed Artificial Potential Field (APF) Via Points Path Planning Algorithm Based On PSO

Abstract

Finding the path planning solution considered as one of the most important aspects in the navigation of the robot, involving one of the optimization methods is the most successful way to get the best path. This paper proposed a mixing approach for robot path planning, by applying modified Artificial Potential Field (APF) to find accepted path then applying particle swarm optimization (PSO) to find the best coordinate locations for the intermediate points that chosen from the original APF path, in order to make an iteratively enhancement till reaching the shortest path. This approach has been tested in two cases, first in case of mass point and second in case of two-link robot arm. The results clearly show the effectiveness and strength where the path length cost minimized from 10.8519m to 10.2144m after optimization, which is represent the best solution for the tested environment.