Research on Path Planning of Mobile Robot with a Novel Improved Artificial Potential Field Algorithm

Table 1

Parameter setting.

Name	Symbol	Value
Attractive coefficient	µ	11
Repulsion coefficient 1	σ	3
Repulsion coefficient 2	k	2
Obstacle influence distance (m)	dobs	1.5
Vehicle width (m)	width	0.8
Vehicle length (m)	length	1
Step length (m)	T_step	0.1
Number of cycles	cmax	1000
Starting position (m)	P0	(0, 0)
Target location (m)		(12, 12)