Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Autonomous Robots
Robot path planning and obstacle avoidance by means of potential function method
Robot path planning and obstacle avoidance by means of potential function method
Combined Path-following and Obstacle Avoidance Control of a Wheeled Robot
International Journal of Robotics Research
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
International Journal of Robotics Research
A convergent dynamic window approach to obstacle avoidance
IEEE Transactions on Robotics
Obstacle avoidance in a dynamic environment: a collision cone approach
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Exponential fields formulation for WMR navigation
Applied Bionics and Biomechanics - Personal Care Robotics
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This paper addresses a new reactive control design for point-mass vehicles with limited sensor range to track targets while avoiding static and moving obstacles in a dynamically evolving environment. Towards this end, a multi-objective control problem is formulated and control is synthesized by generating a potential field force for each objective and combining them through analysis and design. Different from standard potential field methods, the composite potential field described in this paper is time-varying and planned to account for moving obstacles and vehicle motion. Basic conditions and key properties are derived using rigorous Lyapunov analysis. Simulation examples are included to illustrate both the design process and performance of proposed control.