Mobile robot path planning and optimizing method based on cost potential field

The invention provides a mobile robot path planning and optimizing method based on a cost potential field, and the method roughly comprises the steps: initializing a global static scene and a grid map of a dynamic obstacle object, updating and superposing the cost potential field, solving an initial path with the lowest cost through an equipotential line, a tangency point and a tangent line, carrying out the further adjustment and optimization of the path. and finally, obtaining an optimal security path at the current moment. Compared with other path planning and obstacle avoidance methods, the method can comprehensively consider the cost of the path length and the cost of the distance between the path and the obstacle, and guarantees the safety of the path. And meanwhile, the adjusted path also has relatively high smoothness. By introducing the influence of the speed factor of the dynamic obstacle on the obstacle cost potential field, the method also has better performance in a dynamic obstacle avoidance sce