The artificial potential field is in the common use to plan the robot path.But if conic curve function is the model of attractive field, there is chattering phenomenon at target point.

• 摘要人工势场法是进行机器人路径规划时常用的方法，但若用圆锥曲线函数作为引力场数学模型时，在目标点会产生抖动问题。