Improved Manipulator Obstacle Avoidance Path Planning Based on Potential Field Method

Table 6

Comparison of data between two planning methods for two obstacles.

S/N		[rad]	[m]	Extreme point?
1	64 (113)	5.5292 (8.4195)	1.4867 (2.2876)	No (Yes)
2	58 (53)	4.4726 (4.3354)	1.3254 (1.5356)	Yes (No)
3	70 (119)	5.9062 (8.8593)	1.5150 (2.1116)	No (Yes)
4	70 ()	5.8434 ()	1.5056 ()	No ()
5	72 (113)	5.9690 (11.0898)	1.5247 (2.5900)	No (Yes)
6	128 ()	6.4088 ()	1.5740 ()	Yes ()

The corresponding histogram is shown in Figures 9–11, where the graph reaching the maximum represents .