A. Jasmine  Xavier, R. Shantha  Selvakumari, 
    Modified Potential Function for Obstacle Avoidance in an Unknown Environment,
    Asian Journal of Information Technology,
    Volume 15,Issue 13,
    2016,
    Pages 2191-2200,
    ISSN 1682-3915,
    ajit.2016.2191.2200,
    (https://makhillpublications.co/view-article.php?doi=ajit.2016.2191.2200)
    Abstract: Path planning or navigation is one of the most important applications for robot control system. It involves computing a collision free path between start point and end point. In this study artificial potential field method is modified. First the new potential functions are defined and then motion planning algorithm based on the new potential field method is presented. Finally computer simulation is used to demonstrate the effectiveness of the motion planning scheme based on the new potential field method. This method is used to solve the drawbacks such as local minimaand oscillation problem.
    Keywords: Artificial potential field;navigation;obstacle avoidance;robot path planning;computer