[2] [2] YANG W L, WU P, ZHOU X Q, et al.Improved artificial potential field and dynamic window method for amphibious robot fish path planning［J］.Applied Sciences, 2021, 11(5):2114.

[6] [6] SHAO S K, PENG Y, HE C H, et al.Efficient path planning for UAV formation via comprehensively improved particle swarm optimization［J］.ISA Transactions, 2020, 97:415-430.

[7] [7] IMRANE M L, MELINGUI A, MVOGO A J J B, et al.Artificial potential field neuro-fuzzy controller for autonomous navigation of mobile robots［J］.Proceedings of the Institution of Mechanical Engineers, Part I:Journal of Systems and Control Engineering, 2021, 235(7):1179-1192.

[14] [14] OUSSAMA K.Real-time obstacle avoidance for manipulators and mobile robots［J］.The International Journal of Robotics Research, 1986, 5(1):90-98.