A Modified Artificial Potential Field using Perpendicular Force for Leader-Follower System
Gilang Nugraha Putu Pratama, Mentari Putri Jati, Ardy Seto Priambodo, Oktaf Agni Dhewa, Arya Sony · 2023
Artificial potential field (APF) is a path planning strategy that is widely used in robotics. Unfortunately, it is susceptible to local minima problems, especially on Symmetrically Aligned Robot-Obstacle-Goal (SAROG) configurations. In this paper, we propose a modified APF by introducing the perpendicular force for escaping the local minima. Furthermore, it is also being implemented for the leader-follower system. Here, the leader is assigned to reach the goal while avoiding obstacles. Simultaneously, the follower needs to track the leader while maintaining a safe distance. The effectiveness of our proposed method is verified by numerical simulations. The results show that the modified APF using perpendicular prevails in guiding the leader to reach the goal. At the same time, the follower can maintain a tolerated distance from the leader.