Abstract Artificial teams of mobile robots, which are capable of doing difficult jobs with relatively lower cost, gain a growing interest in the robotic field. In this paper, a model is used for a second order non-linear system to simulate a group of agents that interact via pair-wise attractive and repulsive potentials. a new potential field method is proposed using individually based agent perceptual model to successfully solve the local minimum problem, which is considered the main drawback in the artificial potential field based path-planning approach. The work in this paper is considered an extension of my earlier work to overcome local minima using internal agent states [1]. Allowing the potential field to be dynamic and manipulated by the model can solve the problem even easier. Simulation results demonstrate the ability of a single agent as well as group of agents to solve the problem and reach the goal position effectively.