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

Table 4

Local optimal simulation results of multiple obstacles.

Algorithm	Obstacles	Local optimum	Guidance point	Number of iterations
APF	(3, 2), (3, 4), (6, 6.5), (7, 7), (8, 7), (8.5, 7), (9, 7), (9, 8), (10, 9)	(7.91, 6.34)	Nothing
IAPF	Dittos	(7.91, 6.34)	(9.4, 6.2)	180