Obstacles Avoidance Based on Switching Potential Functions

In this paper, a novel path planning and obstacles avoidance method for a mobile robot is proposed. This method makes use of a switching strategy between the attractive potential of the target and a new helicoidal potential field which allows to bypass an obstacle by driving the robot around it. The...

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Veröffentlicht in:	Journal of intelligent & robotic systems 2018-06, Vol.90 (3-4), p.387-405
Hauptverfasser:	Fedele, Giuseppe, D’Alfonso, Luigi, Chiaravalloti, Francesco, D’Aquila, Gaetano
Format:	Artikel
Sprache:	eng
Schlagworte:	Analysis Artificial Intelligence Avoidance Barriers Computer simulation Control Electrical Engineering Engineering Mechanical Engineering Mechatronics Numerical analysis Path planning Potential fields Robotics Robots Robustness (mathematics) Switching
Online-Zugang:	Volltext
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