Path planning of mobile robot is a complex issue involves computing and optimizing a collision-free path between initial position and destination, which requires the method reliable and efficient. This paper introduces an improved artificial potential field (APF) based on nonuniform decomposition method. The nonuniform decomposition can not only expand the range of robot's workspace and increase the possibilities of feasible paths existing, but also promote the efficiency of path planning. The

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... mproved APF algorithm solves some key problems of traditional APF. At last, the result of simulation verifies the effectiveness of this method.