Constructive Aspects of the Method of Potential Fields in Mobile Robotics

摘要

In the well-known works devoted to the method of potential fields in mobile robotics, the key importance is attached to the mechanism of force influence on the movement of the robot; it determines the law of change in the velocity of its movement. In this article, a new methodology for using virtual fields is proposed: the force aspect is excluded and the lines of intensity of the created field set only the desired trajectories of the robot’s movement, and following a given trajectory is carried out by a two-contour control system for the direction and velocity of the robot’s movement. The question of constructing the attracting and repulsive potentials is discussed. The results of simulating the trajectory control of the two-wheeled robot are presented.