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

Description: 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.

Topic: mobile robot; collision avoidance; articial potential function; nav- igation function

Get full text: http://revistas.utp.ac.pa/index.php/memoutp/article/view/1872
http://ridda2.utp.ac.pa/handle/123456789/5758