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Existing potential-field based path planning methods in the literature often do not take into account environmental constraints and robot dimensions. Moreover, they normally do not provide the shortest path either. In this paper, we develop a new repulsive potential function that incorporates robot dimensions as well as the clearance between the robot and obstacles; using this repulsive function, we mathematically prove that the robot is guaranteed to reach the goal. To avoid obstacle’s cavity, we develop our technique “virtual-obstacle”, and for local minima we modify the existing artificial goal-technique to ensure robot reaches the goal. Our algorithm renders several
Rajvanshi et al. (Sat,) studied this question.