Local and global artificial potential functions in the control of mobile robots

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K. Kozlowski
W. Kowalczyk
Enviado: Nov 26, 2018
Publicado: Nov 26, 2018

Resumen

The article presents overview of authors' results concerning mobile robot con- trol algorithms that use local arti cial potential functions (APF) to avoid colli- sions and global arti cial potential functions, named also navigation functions (NF) used to both collision avoidance and driving robot to a desired goal. All included algorithms assume that the mobile platform is di erentially driven mobile robot with nonholonomic constraints. E ectiveness of presented meth- ods is illustrated by simulation and experimental results. Experimental setup used to demonstrate control algorithms is presented.The article presents overview of authors' results concerning mobile robot con-trol algorithms that use local articial potential functions (APF) to avoid colli-sions and global articial potential functions, named also navigation functions(NF) used to both collision avoidance and driving robot to a desired goal. Allincluded algorithms assume that the mobile platform is dierentially drivenmobile robot with nonholonomic constraints. Eectiveness of presented meth-ods is illustrated by simulation and experimental results. Experimental setupused to demonstrate control algorithms is presented.

Palabras clave

mobile robot, collision avoidance, articial potential function, nav- igation function

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Cómo citar
Kozlowski, K., & Kowalczyk, W. (2018). Local and global artificial potential functions in the control of mobile robots. Memorias De Congresos UTP, 1(1), 5-20. Recuperado a partir de http://revistas.utp.ac.pa/index.php/memoutp/article/view/1872