Abstract: The purpose of this paper is to develop a realtime path planning algorithm used for the mobile robot capable of moving on the vertical wall surface. Artificial po-tential approach is used to avoid the random obstacles in the local range. Based on this algorithm, a closed-loop control between robot system and environment around robot system can be constructed to yield the optimal realtime path, so that the stability of robot system and its adaption to the environment are enhanced.

Key words: mobile robot on the wall surface, path planning, intelligent robot