A method to solve the problem of goal nonreachable with obstacle nearby (GNRON) is proposed.
提出一种解决人工势场法目标不可达问题的方法。
The proper gain factor is selected to solve GNRON problem so as to make the robot reach the goal rapidly.
通过选取适当的增益系数解决了目标不可达问题，使机器人快速到达目标点。
The limitations of classical artificial potential field are GNRON and the chattering phenomenon when mobile robot moves near the obstacle or pass through the narrow space.
分析了传统人工势场法中的固有缺陷：目标不可达；在障碍物附近或通过狭小通道时的抖动问题。
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