This paper introduces a new framework for escaping from a local minimum in path planning based on artificial potential functions (APFs). In particular, this paper presents a set of analytical guidelines for designing potential functions to avoid local minima in a trap situation (in this case, the robot is trapped in a local minimum by the potential of obstacles). The virtual escaping route method is proposed to allow a robot to escape from a local minimum in a trap situation where the total forces are composed of repulsive forces by obstacles and attractive force by a goal are zero. The example results show that the proposed scheme can effectively construct a path planning system with the capability of reaching a goal and avoiding obstacles, despite a trapped situation under possible local minima.