Path Planning for Mobile Robots Using Artificial Potential Field Method

This MATLAB program implements path planning for mobile robots using the artificial potential field method. This approach is an environmental characteristic-based path planning technique where robots and obstacles are modeled as charged particles. The algorithm calculates interaction forces between these particles to generate collision-free paths. The implementation uses standard artificial potential field principles, incorporating attractive potential fields towards goal points and repulsive potential fields around obstacles. The code demonstrates key components including: force vector calculations using Euclidean distance metrics, parameter tuning for force coefficients, and iterative position updates through numerical integration. Detailed comments explain the algorithm's mathematical foundation, featuring gradient-based navigation and local minima avoidance strategies. The program provides comprehensive implementation insights with explanations of core functions such as potential field generation, force superposition, and trajectory optimization, serving as an educational resource for understanding robotic path planning principles and applications.