Artificial Potential Field-Based Path Planning for Cluttered Environments

1 code implementation • 31 Oct 2022 • Mosab Diab, Mostafa Mohammadkarimi, Raj Thilak Rajan

First, we propose to improve an existing classical method that replaces the gradient descent optimization of the potential field cost function on a continuous domain with a combinatorial optimization on a set of predefined points (called bacteria points) around the agent's current location.

Combinatorial Optimization