Abstract：To solve the problems of goal nonreachable with obstacle nearby ( GNRON) , local minimum and swinging in narrow roads in the use of traditional artificial potential field, a modified artificial potential field algorithm was proposed. In this modified algorithm, the target distance was introduced into the repulsion function to solve the problem of GNRON, and the repulsive force was decomposed into a component force from obstacles to the robot and a vertical component force, which were used to prevent the robot close to obstacles and guide the robot to leave obstacles respectively. To improve the iterative speed and accuracy of the shuffled frog leaping algorithm, the modified shuffled frog leaping algorithm was proposed to optimize the parameters of artificial potential field to effectively improve the path planning performance of the artificial potential field algorithm. The effectiveness of the proposed algorithm was verified by the simulation experiments.

Keyword：modified artificial potential field algorithm;repulsion function;modified shuffled frog leaping algorithm;path planning;