Mobile robot motion planning-stability, convergence and control

Abstract

Presents a unified approach to the navigation and control of a mobile robot. In the past, path planning has often been referred to as a 'high level' task and has been completely separated from the so called 'lower level' control of a real mobile vehicle. The authors consider here the total energy of a mobile vehicle when influenced under a good seeking navigation strategy. This energy function is used to produce a control law directly to drive a mobile vehicle. The authors also incorporate directly an estimate of an artificial repulsive potential field into the low level controller.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>