Robot Path Planning That Smoothly Dodges Moving Objects

A new way to guide collaborative robots through busy spaces has been created by mixing two existing ideas: an improved Artificial Potential Field (APF) and a refined Bidirectional Rapidly-exploring Random Tree (Bi‑RRT). The first step is to build a cost measure that favors small changes in the robot’s joint angles, which helps pick better waypoints from the Bi‑RRT search and cuts out unnecessary stops. Next, the APF part is adapted to work in joint space: a new attractive force pulls the robot toward its goal while a redesigned repulsive force pushes it away from any moving obstacle that might touch one of its links.When the two parts are joined, simulations show that a robot can glide around both stationary and moving barriers while keeping all joints turning smoothly. The tests confirm that this combined method works well for real‑time obstacle avoidance.