Non-holonomic local navigation using control on the centrifugal force

Author

Clavel, N. ; Sevila, F. ; Zapata, R.

Author_Institution

CEMAGREF, Montpellier, France

Volume

3

fYear

1993

fDate

26-30 Jul 1993

Firstpage

2272

Abstract

The artificial potential fields (APF) method is attractive for mobile robot navigation, and solutions to the difficulties of their application are investigated here. The basic problem induced by early convergence in local minima is solved by using a systematic local reshaping of the APF. It enables one to destabilize, and to extract the robot from the local basin of attraction. A theoretical analysis of kinematic and dynamic constraints has led to the use of Speed Dependent APF (SDAPF) for avoidance. This concept allows one to generate a controlled centrifugal force that respects the constraints. Simulation results for data close to sensor capabilities are very satisfactory

Keywords

mobile robots; artificial potential fields; centrifugal force; dynamic; early convergence; kinematic; local minima; local navigation; mobile robot navigation; nonholonomic local navigation; Control systems; Convergence; Force control; Kinematics; Lyapunov method; Mobile computing; Mobile robots; Navigation; Programming profession; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on

Conference_Location

Yokohama

Print_ISBN

0-7803-0823-9

Type

conf

DOI

10.1109/IROS.1993.583943

Filename

583943