RobotSIM: An Environment For ObstacleAvoidance Control Based On A Potential FieldMethod
G. Gini, Gian Pietro Picco · WIT transactions on information and communication technologies · 1970
We present a simulation system that moves amobile robot in a world cluttered with obstacles using a potential field function. Following the method proposed by Bruce Krogh we take into account if the current position of the controlled system as well as its current velocity. The method relies on a double strategy for control: a time-optimal control, based on the bang-bang control, is performed in absence of obstacles, while a potential field control, enriched with some heuristics, is used when obstacles are present. The mathematical formulation is made in such a way that the first control strategy can be regarded as a subclass of the more general second strategy.