A new APF strategy for path planning in environments with obstacles

In this paper, a new general approach for the solution of the path planning problem has been developed in environments with obstacles. On the one hand, this strategy can be applied to mobile robots and on the other hand it can be used to solve the planning of high redundant multibody systems in their Configuration Space. The approach is based on the concept of Artificial Potential Fields (APF) usually associated both with the obstacles defined in the environment and with the target positions. Firstly, a new shape of APF has been arranged, established on a Potential Density, chosen inversely proportional to the Nth power of the distance. Hereafter, a brand new path planning strategy called “quasi-geodesic method” has been developed to avoid the obstacles. This method is valid for 2D and 3D environments, working the same manner whether the environment is static or dynamic.