Guidance
2019
Guidance is performed on a higher level and focuses on the setpoint given to the controller in order for the robot to be able to accomplish its assigned mission. Conventionally, guidance is applied in four different environments: terrestrial, marine, aerial and spatial. When the robot is completely autonomous, the desired path must be planned out. This chapter illustrates how such a planning is performed on the example of a robot tank. It uses the Voronoi diagrams to perform a triangulation of the space. A Delaunay triangulation is often used in robotics to represent space such as for example the area already explored, restricted areas, and lakes. A mobile robot has to move in a congested environment that contains mobile and stationary obstacles. The artificial potential field method consists of imagining that the robot can behave like an electric particle that can be attracted or repelled by other objects following the sign of their electric charge.