Path Planning Based on Artificial Potential Field Method

Before executing this program, please ensure you have installed the MATLAB environment. ## Operation Guide: 1. Launch the MATLAB software. 2. Open the main.m file in the MATLAB editor. 3. Within the file, you can customize object definitions including robot parameters, goal coordinates, and obstacle configurations to suit specific requirements. The code structure allows flexible modification of object properties and algorithm parameters. ## System Requirements: - MATLAB R2016a or later version recommended ## Implementation Features: - Single robot navigation with one target point - Two obstacle objects with configurable positions and repulsive field parameters - The implementation uses attractive potential fields for goal convergence and repulsive fields for obstacle avoidance ## Program Objective: This program aims to navigate a robot from its initial position to the target point while avoiding obstacles along the path. To achieve this objective, users can optimize movement trajectories and obstacle avoidance by adjusting object positions and tuning path planning algorithm parameters in the main.m file. The core algorithm calculates resultant forces from attractive (goal) and repulsive (obstacle) potential fields to determine robot movement direction at each iteration. Additionally, users can extend functionality by integrating supplementary objects such as sensors or cameras to enhance robot motion planning and environmental perception capabilities through modular code extensions.