Path planning method based on artificial potential field method. Compute_angle, compute_attract and compute_repulsion calculate the angular gravitational repulsion and the physical constraints respectively, and then obtain a reasonable path.

artifical_potential_field_publish\compute_angle.m
artifical_potential_field_publish\compute_Attract.m
artifical_potential_field_publish\compute_repulsion.m
artifical_potential_field_publish\main.m
artifical_potential_field_publish

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