Path planning using the potential field approach for navigation

摘要

Proposes a potential field approach for local path planning of a mobile robot in a telerobotics context, that is, with the presence of a human operator in the control loop at a supervisory level. The models of both the vehicle and the obstacles are presented together with the description of the trajectory generation algorithm and a novel approach to deadlock avoidance. Finally the proposed man-machine interaction strategy is outlined.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>