“…Aiming at the problem solving, some modified APF methods are proposed to overcome local minimum. The key ideas may be fallen into two categories: one establishes new potential functions with a few or even no local minima (Ge & Cui, 2000;Warren, 1990); the other uses some techniques to escape from local minima, including random walk (Janabi-Sharifi & Vinke, 1993), wall following (Borenstein & Koren, 1989), and other heuristic methods (Singh et al, 1996). Except for these efforts, Jugh et al apply the PSO algorithm to path optimization of multiple robots ).…”