The robot executes a classical cycle Sense → Plan → ActLiDAR-rays sense obstacles (Sense), potential fields method calculates movement direction (Plan), engines power and move the robot (Act) — and the cycle repeats every frame.
F = F_att + Σ F_rep(i)
F_att = k_a · (goal − pos)
F_rep = k_r · (1/d − 1/d0) · (1/d²) · dir, if d < d0
- F_att — gravitational force to target (Path Planning).
- F_rep — repulsive force from each obstacle within the sensor radius d0 (Obstacle Avoidance).
- Occupancy grid — cells under observation are marked as 'examined' — simplified analogy to SLAM maps.
- FINAL VECTOR — result sensor fusion: all LiDAR rays are combined into one direction decision.
The same principle (perception → planning → action, with obstacle avoidance in real time) lies at the heart of autonomous cars, drones, and pick-and-place robots.