Assistant Prof. Dr. Firas A. Raheema*, and Mustafa M.Badr b. 2026. “Smoothed Artificial Potential Field (APF) Via Points Path Planning Algorithm Based On PSO”. AL-Yarmouk Journal 11 (1):89-104. https://journal.al-yarmok.edu.iq/index.php/alyj/article/view/1653.