Multi-Robot Target Tracking Using Modified Artificial Potential Field

This paper introduces a modified version of the Artificial Potential Field (APF) method for path planning in robotic navigation. Path planning is a fundamental aspect of a robot’s movement towards its target, where finding an optimal path while avoiding obstacles is a key challenge. The APF method is widely used due to its simplicity and effectiveness in unknown environments. However, local minima and oscillations are two major drawbacks that hinder its performance. To address the local minima issue, this paper proposes a modified APF method that incorporates a path retrace mechanism. The proposed approach enables the robot to backtrack along its previous path to a safe point before reaching a local minimum. Additionally, a repulsive force is introduced to block reentry into the local minimum-causing path, ensuring improved navigation. The effectiveness of this method is validated through MATLAB simulations in a 2D environment.