
High-performance Navigation System for Mobile RobotsHigh-performance Navigation System for Mobile Robots 263
Considering the quadratic range radio d
a
with m = 2, Andrews (Park
and Lee 2003) proposes the attractive potential function given by (12.2.5),
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(12.2.5)
where the attractive force F
att
can be described using (12.2.6),
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(12.2.6)
12.2.2 Repulsive potential
The repulsive potential function has a limited range of infl uence. The
movement of the robot is affected by a distant obstacle. ...