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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...
New repulsive potential functions (RPFs) for point robot path planning are presented, where the RPF for path planning has a different magnitude at each direction of a RPF based on the angle between a goal and an obstacle, unlike a conventional RPF in which the same magnitude at each direction is obtained. In doing so the RPF attempts to overcome some of the typical problems that may pose to the conventional...
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