Several criteria may be used to select an appropriate attractive potential field. Nonetheless, the most commonly used potential is a mixture of conic and parabolic convex hulls. It should be noticed that potential grows according to the distance between the particle the robot and qgoal. An expression is given by
Existen varios criterios para seleccionar un campo potencial atractivo, sin embargo la definición de mayor aceptación es la de que Uatt incremente según la distancia desde qgoal, de acuerdo con la siguiente expresión: