The algorithm utilizes generalized potential model to evaluate the repulsion between obstacles and manipulators and obstacles and objects, thus the avoidance of collision is guaranteed.

• 我们利用三度空间的广义位能场模型计算障碍物对物体和机械手臂的排斥力，保证物体及手臂在运动时不会与障碍物发生碰撞，规划出最安全的路径。