  Autonomous ground vehicle systems have found extensive potential and
practical applications in the modern world. The development of an autonomous
ground vehicle poses a significant challenge, particularly in identifying the
best path plan, based on defined performance metrics such as safety margin,
shortest time, and energy consumption. Various techniques for motion planning
have been proposed by researchers, one of which is the use of artificial
potential fields. Several authors in the past two decades have proposed various
modified versions of the artificial potential field algorithms. The variations
of the traditional APF approach have given an answer to prior shortcomings.
This gives potential rise to a strategic survey on the improved versions of
this algorithm. This study presents a review of motion planning for autonomous
ground vehicles using artificial potential fields. Each article is evaluated
based on criteria that involve the environment type, which may be either static
or dynamic, the evaluation scenario, which may be real-time or simulated, and
the method used for improving the search performance of the algorithm. All the
customized designs of planning models are analyzed and evaluated. At the end,
the results of the review are discussed, and future works are proposed.
