The International Journal of Fuzzy Logic and Intelligent Systems

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Fig. 5.

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Fig. 5.

Attractive force rotation (AFRO) process: (a) the mobile base part of a mobile manipulator falls in a local minimum, Fsum = 0, (b) the subplanner keeps rotating Fatt clockwise by θR, (c) Fatt is resurrected, and the mobile manipulator moves along with it, and (d) the mobile manipulator has escaped from a local minimum.

International Journal of Fuzzy Logic and Intelligent Systems 2018;18:263-75 https://doi.org/10.5391/IJFIS.2018.18.4.263
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