2P1-F02 Proposal of a Generation Algorism of Continuous Repulsive Force Vector on Potential Field Approach
Hironori Ogawa, Katsuyuki Sagayama, Kazuteru TOBITA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2010
We developed a guidance robot "NWR001" that can control intuitively. An obstacle avoidance feature based on the potential field approach was added this time. The potential field approach was used for generating a path that avoids obstacles. However, that method has some issues, those are concave shape obstacles and contiguous obstacles. This paper proposed a new method that generates a continuous change of force direction by dividing a potential field in to a positive and a negative axes and combine both maximum values. Our method can apply to the point cloud data such as scanning laser or range image sensor.