Quasi-harmonic approach to non-holonomic robot motion control with concave obstacles avoidance

Mobile non-holonomic robot motion control with collision avoidance is investigated in this paper for the case of unknown concave obstacles 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 with concave obstacles can be separated smoothly from a non-harmonic solution for positioning.