Robot Collision Avoidance based on Artificial Potential Field with Local Attractors

被引：3
|
作者：
Melchiorre, Matteo [1 ]
Scimmi, Leonardo Sabatino [1 ]
Salamina, Laura [1 ]
Mauro, Stefano [1 ]
Pastorelli, Stefano [1 ]
机构：
[1] Politecnico Torino, Dept Mech & Aerosp Engn, C so Duca Abruzzi 24, Turin, Italy
来源：
PROCEEDINGS OF THE 19TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS (ICINCO) | 2022年
关键词：
Collision Avoidance; Artificial Potential Field; Local Attractors; Motion Planning; SLIDING MODE CONTROL; OBSTACLE AVOIDANCE; NAVIGATION; GRADIENT; TRACKING;
D O I：
10.5220/0011353200003271
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a novel collision avoidance technique that allows the robot to reach a desired position by avoiding obstacles passing through preferred regions. The method combines the classical elements of the artificial potential fields in an original manner by handling local attractors and repulsors. The exact solution, which is given in a closed form, allows to sculpt a potential field so that local minima related to the local attractors are prevented and the global minimum is unperturbed. The results show the algorithm applied to mobile robot navigation and prove the capability of local attractors to influence the robot path.
引用
收藏
页码：340 / 350
页数：11
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