This　article　is　about　artificial　potential　field　(APF)　used　in　moving　robot　path　planning.　However,　due　to　the　limitations　of　the　algorithm,　the　robot　is　easy　to　fall　into　local　minima　destination　unreachable　during　obstacle　avoidance　and　target　trends　path　planning.　For　this　problem,　we　use　＂virtual　obstacle＂　and　＂associate　target＂　methods　to　improve　APF,　and　successfully　apply　to　robot　path　planning.　Simulation　results　verify　the　feasibility　of　the　algorithm.