In this work. we propose an assistive navigation system for visually impaired people (ANSVIP) that takes advantage of ARCore to acquire robust computer vision-based localization. To complete the system. we propose adaptive artificial potential field (AAPF) path planning that considers both efficiency and safety. https://safeersappliancers.shop/product-category/stoves-stbi900g-built-in-double-gas-oven/