Robot Path Planning Simulation Based on Artificial Potential Field

This source code implements a robot path planning simulation based on artificial potential field methodology. The program incorporates threshold parameters to control the robot's motion trajectory - these thresholds regulate attraction forces toward the goal and repulsion forces from obstacles. Developers can modify these threshold values to observe different path planning behaviors and optimize performance. The implementation includes key functions for calculating potential fields, gradient descent for path optimization, and collision avoidance mechanisms. Additional planning strategies can be integrated to enhance path efficiency, such as velocity adjustment algorithms or dynamic obstacle handling. This simulation provides fundamental understanding of robotic path planning concepts including configuration space mapping, local minima solutions, and real-time navigation techniques. We encourage experimentation with parameter tuning and welcome contributions of modifications and optimizations to share with the community.