An improved potential field grid method is presented in this paper to solve the problems of general artificial potential field method including the trap situation

no path existing among adjacent obstacles and not up to the object near the obstacle. With the full coverage path planning algorithm of cattle farming

a global optimal sweep path of the robot in the known environment model is given. By combining the laser radar and the potential field force

it has the ability to avoid dynamic collision. The verifying experiment indicates that the algorithm has practical value. It can make cleaning robot in a shorter path traversal environment and enhance the obstacle avoidance capability

improve safety and efficiency of cleaning robot.