Fig. 24
From: Obstacle avoidance of mobile robots using modified artificial potential field algorithm
![Fig. 24](http://media.springernature.com/full/springer-static/image/art%3A10.1186%2Fs13638-019-1396-2/MediaObjects/13638_2019_1396_Fig24_HTML.png)
The energy amount of repulsion and attraction and their yields according to the number of steps in the modified artificial potential field algorithm for the straight line obstacle