Virtual force field based obstacle avoidance and agent based intelligent mobile robot
Saurabh Sarkar, Scott Reynolds, Ernest L. Hall · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2007
This paper presents a modified virtual force based obstacle avoidance approach suited for laser range finder. The modified method takes advantage of the polar coordinate based data sent by the laser sensor by mapping the environment in a polar coordinate system. The method also utilizes a Gaussian function based certainty values to detect obstacle. The method successfully navigates through complex obstacles and reaches target GPS waypoints.