Time-varying potential field based `perception-action´ behaviors of mobile robot

An efficient method is presented for implementing mobile robot perception-action behaviors, based on the time-varying potential field. The concept of dynamic potential is proposed to achieve the control scheme. The scheme was successfully implemented on the THMR-II mobile robot for a variety of applications. The drawbacks of known potential field methods are solved by the composition of the behavior controls. Experimental results based on sonar and vision signals are given to show that the method had good real-time response and adaptability, and was robust in dynamic environments