This Matlab Code is intended to give an exposure to potential-force based local planner for single robot. Potential-force based methods are subjected to get "trapped" / immobilized into a "Local Minima" [where the attractive force and the net repulsive force areequal in magnitude and opposite in direction, the net resultant force being zero].
The following papers can be consulted:
https://link.springer.com/chapter/10.1007/978-3-642-15810-0_26
https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1087247
https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=44033