Mobile robots motion control in crowded environments using quasi-harmonic method

Mobile robot motion control with collision avoidance is investigated in this paper for the case of unknown obstacles which are locally sensed. Motion control achieves in this case a reactive motion using velocity potential fields approach in a modified, quasi-harmonic, solution. Analytical solutions and simulations show how the harmonic solution for collision avoidance can be separated smoothly from a non-harmonic solution for positioning at a fixed goal.