Local and global artificial potential functions in the control of mobile robots
K Lowski, Wojciech Kowalczyk · 2018
The article presents overview of authors' results concerning mobile robot control algorithms that use local artificial potential functions (APF) to avoid collisions and global artificial potential functions, named also navigation functions (NF) used to both collision avoidance and driving robot to a desired goal.All included algorithms assume that the mobile platform is differentially driven mobile robot with nonholonomic constraints.Effectiveness of presented methods is illustrated by simulation and experimental results.Experimental setup used to demonstrate control algorithms is presented.