Construction of potential fields in mobile robot local navigation
A. B. Filimonov1,2, N. B. Filimonov3,4, A. A. Barashkov1
1Russian Technological University (MIREA), Moscow, Russia
2Moscow Aviation Institute
3Lomonosov Moscow State University, Moscow, Russia
4Bauman Moscow State Technical University
Keywords: мобильные роботы, локальная навигация, планирование движений, искусственные потенциальные поля, проблема локальных минимумов, задача обхода препятствий, mobile robots, local navigation, motion planning, artificial potential fields, problem of local minima, obstacle avoidance problem
Abstract
The issues of local navigation of mobile robots are considered. The method of artificial potential fields as a popular method for local navigation of robots is analyzed. The issue of designing attractive potential fields is investigated. The problem of local minima (traps) is discussed. A new method for avoiding obstacles by a robot moving to a target is proposed
|
