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

Table 3

Local optimal simulation results of a single obstacle.

Algorithm	Obstacle	Local optimum	Guidance point	Number of iterations
Classical APF method	(6, 6)	(5.62, 5.62)	Nothing
IAPF method	(6, 6)	(5.62, 5.62)	(6.7, 5.2)	112