An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators - Wang, Wenrui; Zhu, Mingchao; Wang, Xiaoming; He, Shuai; He, Junpei; Xu, Zhenbang (International journal of advanced robotic systems, 2018)
Keywords: Collision dynamics; Computer simulation; Obstacle avoidance; Potential fields; Redundancy; Stability; Trajectory planning; attractive potential field; obstacle avoidance; Trajectory planning; velocity feedforward; repulsive potential field