engleski

A Potential Field Method Approach to Robotic Convoy Obstacle Avoidance

This article deals with the control of robotic convoy system using the potential field method (PFM). An analytic fuzzy approach based on the principles of kinematics of rigid body is proposed. We assume that all robots are of the differential drive which is the most common structure in the practical applications of so-called service mobile robots. The PFM in such systems is used to generate robots desired trajectories. Properties of the method are illustrated and discussed on the simulation examples of obstacle avoidance.

wheeled mobile robot; robotic convoy system; obstacle avoidance; potential field

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