Among the methods which are used to research on this topic, artificial potential field method (APF) is applied most widely till now.
而在研究此问题的众多方法中，人工势场法是迄今为止应用最广泛的方法之一。
To solve the problem of the motion planning, a kind of improved artificial potential field method applied in the dynamic environment is proposed.
对于运动规划层，提出了一种用于动态环境下的改进的人工势场法。
In order to avoid the oscillating near obstacles in an artificial potential field method, this paper presents a method of mean filter to plan the shortest smooth path.
为了避免人工势场使机器人在障碍物附近产生震荡，采用均值滤波的方法，规划出一条平滑最优路径。
应用推荐