The Peculiarities of Application of the Potential Fields Method for the Problems of Local Navigation of Mobile Robots

摘要

The methodology of application of linear-quadratic optimization for problems of sequential regulation, where it is necessary to watch the dynamic processes in the environment is considered in the paper. The generalized scheme of control system combining the principles of the construction of classical single-loop regulation systems and stabilization systems with feedback condition is in its base. The proposed solutions represent the idea of conversion of stabilization problems for tracking problems in connection with class of systems with zero steady-state tracking error.