基于人工势场法的UR5机械臂避障算法（Python）

参考文献：

祝敬,杨马英.基于改进人工势场法的机械臂避障路径规划[J].计算机测量与控制,2018,26(10):205-210.

主要代码：

          def path_planning(self) -> List[Joint_point]:
                    """
                    Start the path planning
                    """
                    #Initial theta
                    theta = self.start.theta
                    #Initial the path
                    path = [self.start]
                    while True:
                              """
                              Initial the U and theta_list
                              U : Stores the total potential energy of once search
                              joint_point_list : Stores the joint_point of once search
                              """
                              U = []