Velocity potential approach to path planning for avoiding moving obstacles

@article{Akishita1992VelocityPA,
  title={Velocity potential approach to path planning for avoiding moving obstacles},
  author={Sadao Akishita and Sadao Kawamura and Takashi Hisanobu},
  journal={Advanced Robotics},
  year={1992},
  volume={7},
  pages={463-478}
}