Obstacle avoidance is one of the main interests regarding path planning. In many situations (mostly those regarding applications in urban environments), the obstacles to be avoided are dynamical and unpredictable. This lack of certainty regarding the environment introduces the need to use local path planning techniques rather than global ones. A well-known method uses artificial potential fields introduced by Khatib. The Weyl potential definition have enabled to distinguish the dangerousness of an obstacle, however acceleration oscillations appear when the considered robot enters a danger zone close to an obstacle, thus leading to high energy consumption. In order to reduce these oscillations regarding this method, four alternative formulations for the repulsive field are proposed: corrective polynomials, tangential and radial components, Poisson potential and pseudo fractional potential. Their limitations will be explored and their performances will be compared by using criteria such as length and energy in a simulation scenario.

中文翻译：

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人工势场法对有效避障的贡献

避障是有关路径规划的主要兴趣之一。在许多情况下（大多数是与城市环境中的应用有关的情况），要避免的障碍是动态的且不可预测的。有关环境的不确定性导致需要使用本地路径规划技术而不是全局方法。众所周知的方法是使用Khatib引入的人工势场。Weyl势能定义能够区分障碍物的危险性，但是，当所考虑的机器人进入靠近障碍物的危险区域时，会出现加速度振荡，从而导致高能耗。为了减少有关该方法的这些振荡，针对斥力场提出了四种替代公式：校正多项式，切向分量和径向分量，泊松势和伪分数势。将探索它们的局限性，并通过在仿真场景中使用诸如长度和能量之类的标准来比较它们的性能。