Autonomous Generation of the Potential Field on Obstacle Avoidance Problem.
Shuichi Yokoyama, Masabumi UCHIDA, Kei Fukushima, Toshio AKINUMA · Journal of the Robotics Society of Japan · 1992
It is necessaryfor an autonomous mobile robot to solve the problem of obstacles avoidance.Po tential method is one of superior to solve this problem.And there are some reports which showed the effect of potential method.But there is few discussion about how to make potential field.In this paper, we try to generate potential field by parallel distributed processing with the group of ele ments "Sensory Points", and defined the motion of elements.As a result of computer simulation, we confirmed as follows: it is possible to generate the potential field quickly with sensory points, and potential field which we generated is effective to solve the obstacle avoidance problem.