Large question: In the path planning of a robot, potentials…
Large question: In the path planning of a robot, potentials are expressed in Cartesian workspace of the robot. Obstacles which have to be avoided are surrounded by repulsive potential fields and the goal point is surrounded by an attractive field. These potentials are added to form a composite potential. The robot moves in this field of form as shown as follows. Figure. Force in the artificial potential field Figure. The local minimum situation in a 1D case.