中文说明：
人工势场法是由Khatib提出的一种虚拟力法。它的基本思想是将机器人在周围环境中的运动，设计成一种抽象的人造引力场中的运动，目标点对移动机器人产生“引力”，障碍物对移动机器人产生“斥力”，最后通过求合力来控制移动机器人的运动。
English Description：
The artificial potential field method is a virtual force method proposed by Khatib. Its basic idea is to design the movement of the robot in the surrounding environment as an abstract movement in the artificial gravitational field. The target points produce "gravity" on the mobile robot, and the obstacles produce "repulsive force" on the mobile robot. Finally, the movement of the mobile robot is controlled by the resultant force.