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), pp. 89–104. Available at: https://journal.al-yarmok.edu.iq/index.php/alyj/article/view/1653 (Accessed: 27 July 2026).