BAS for path_planning

Using BAS instead of gradient descent method to plan path in artificial potential field

使用BAS替代梯度下降法在人工势场中进行路径规划

Examples of path planning

Simple environment

Complex environment

Using gradient descent method in the same situation, robot fall into local optimum.

Combining the gradient descent method and BAS to plan path.

Examples of path planning

Complex environment

Using BAS to jump out of the local optimum.