最大能量法的结果受初始静校正量的影响，它的解容易陷入目标函数的局部极小值。

The result of maximum energy method depends on the initial values of residual statics. The solution is often trapped into the local minimum of the objective function.

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算法继承了人工势场法的基本思想，通过寻找路径点的能量函数的极小值点而使路径避开障碍物。

The algorithm given in this paper inherits the basic idea of potential energy field method. By searching the minimum value of the energy function, the collision free path can be found.

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后者利用罚函数法给出了能量极小意义下的最优解，适合于保持光顺性要求的全局修改。

The latter gives the optimal solution to the energy equation with penalty function method and it is a global modification with good fairness.

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