Unfortunately, the potential functions proposed suffered from several problems, one being that of undesired local minima. None of these papers mentioned above offers an exact potential function based algorithm that is guaranteed to work. Global path planning using artificial potential fields . If a path exists, it will be found, and if multiple paths are found, the best may be chosen. The point in configuration space representing the manipulator is acted upon by a force equal to the negative gradient of this potential field, and driven away from obstacles and to the minimum.
Global methods have several disadvantages.
Global path planning using artificial potential fields . These modifications are described in detail in this paper. This approach appears to be closely related to our research. However , there are several significant differences between the path planning and robot navigation problem and our task allocation and agentcoordination problem, and the techniques that are used for solving these problems. Global path planning using artificial potential fields .