On the design of an obstacle avoiding trajectory: Method and simulation

  • Authors:

  • Claudiu Pozna;Fritz Troester;Radu-Emil Precup;József K. Tar;Stefan Preitl

  • Affiliations:

  • Transilvania University of Brasov, Department of Product Design and Robotics, Bd. Eroilor 28, 500036 Brasov, Romania;University of Applied Science Heilbronn, Department of Mechanical and Electrical Engineering, Max Planck Str. 39, 74081 Heilbronn, Germany;"Politehnica" University of Timisoara, Department of Automation and Applied Informatics, Bd. V. Parvan 2, 300223 Timisoara, Romania;Budapest Tech Polytechnical Institution, Institute of Intelligent Engineering Systems, Bécsi út 96/B, H-1034 Budapest, Hungary;"Politehnica" University of Timisoara, Department of Automation and Applied Informatics, Bd. V. Parvan 2, 300223 Timisoara, Romania

  • Venue:
  • Mathematics and Computers in Simulation
  • Year:
  • 2009

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Abstract

The paper suggests a new mathematical construction for the potential field used in the design of obstacle avoiding trajectories. The main benefits of the proposed construction are the quickness of minimum computation and the compensation for the main drawbacks specific to the ''traditional approaches'' belonging to the potential field method in general. The potential field definition and its minimum computation concept are presented. Next the concept is included in a design method for obstacle avoiding trajectories. The method is expressed in the form of an algorithm for obstacle avoidance. In the following step a state-space controller is designed in order to control the car along that trajectory. Digital simulation results obtained for the complete dynamic model of a car well validate the method.