参考文献:
祝敬,杨马英.基于改进人工势场法的机械臂避障路径规划[J].计算机测量与控制,2018,26(10):205-210.
主要代码:
def path_planning(self) -> List[Joint_point]:
"""
Start the path planning
"""
#Initial theta
theta = self.start.theta
#Initial the path
path = [self.start]
while True:
"""
Initial the U and theta_list
U : Stores the total potential energy of once search
joint_point_list : Stores the joint_point of once search
"""
U = []