Constraints of Potential Field for Obstacle Avoidance on Car-Like Mobile Robots
Embedded Systems, Computational Intelligence and Telematics in Control, Volume # | Part# 1
Xu, Zhihao; Heß, Robin; Schilling, Klaus
Digital Object Identifier (DOI)
Mechatronics, robotics and autonomous systems; Computer-based control systems; Mobile embedded applications
The well-known potential field method for obstacle avoidance in the scope of mobile robots is discussed in this paper. Particular attention is on the car-like mobile robots, which impose practical limitations on the application of potential field method due to its limited speed and steering capability. Along with the review of some recent studies on this topic, we point out the necessity of implementing a nonholonomic motion planner and propose some extensions to other potential-field-related methods to deal with the constraints from car-like robots.
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