An Improved VFF Approach for Robot Path Planning in Unknown and Dynamic Environments

Table 1

The values of the parameters in the membership functions.

	The value of 𝐾1	The value of 𝐾2
The input parameter 𝜆1	𝑣𝑟	2𝑣𝑟
The input parameter 𝜆2	2𝑟	4𝑟
The output parameter 𝜑	𝜋4	𝜋2