Aiming at the local traps problem in the traditional artificial potential field, an artificial potential field algorithm
based on grey qualitative theory is proposed. The free space of environment is decomposed into series of convex polygons
by using the convex decomposition algorithm. Vertices of convex polygons and the adjacency relationship between them
are taken as the key information of environment, which are defined as the grey qualitative fundamental element and the grey
qualitative relationship respectively. The sequence of convex polygons from start point to target point is deduced by grey
qualitative relationship, and then the potential field in those convex polygons is calculated by generalized whitening function.
Theoretical analysis and the experiment verify that the proposed algorithm can ensure the robot reach the target safely in
finite time.