Mobile robot control based on dynamic potential
Tianmiao Wang, Zhang Bo, Kezhong He, Zeng-Ren Yuan · Journal of Systems Engineering and Electronics · 1992
An efficient method is presented for implementing mobile robot perception-action behaviors, based on time-varying environment potential field approach. First, in this paper, the concept of dynamic potential U(x, y, z, t) is proposed for representing the environment of a mobile robot, and the form of U(x, y, z, t) is deduced, and then the velocity control of the vehicle with two wheel is directly calculated by transition function T of U(x, y, z, t). Finally, the perception-action layer is successfully implemented for avoiding collision, wandering, and integrating path planning and steering control on THMR-II (TsingHua university Mobile Robot system). Based on sonar array signals, the experimental results are given to show that THMR-II has better reflexive function, real-time obstacle avoidance, adaptablity and robustness for complex environments.