外虚力的大小是无关的。

The magnitude of the external virtual force is irrelevant.

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本文给出了移动机器人的虚力导航和运动规划系统。

In this paper we present a virtual force guidance system for motion planning.

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运动规划层：对经典运动规划方法中垂线法和虚力场法进行了研究和实现。

Path Planning Layer: Research and realization of perpendicular bisector method and potential field method of classical methods.

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