研究了改进人工势场法，发现该方法并不能完全解决局部极小点问题。
By studying the improved potential field function method, it is found that the method couldn't solve all local minimum problems.
在路径规划中应用了改进人工势场法并对其进行了仿真试验，结果表明其算法对于机器人的避碰有了可观的改善。
The improvement artificial potential field law in the way plan was applied and simulated, and finally results indicated this algorithm considerably improved the robot avoiding collision.
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。
To solve the problem of the motion planning, a kind of improved artificial potential field method applied in the dynamic environment is proposed.
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