"FAIRWAY" CONCEPT IN TASKS OF POTENTIAL GUIDANCE OF MOBILE ROBOTS
A. B. Filimonov1,2, N. B. Filimonov3,4
1Russian Technological University, Moscow, Russia
2Moscow Aviation Institute, Moscow, Russia
3Lomonosov Moscow State University, Moscow, Russia
4Trapeznikov Institute of Control Problems, Russian Academy of Sciences, Moscow, Russia
Keywords: mobile robots, local navigation, artificial potential fields, force lines of the field, the concept of a "fairway", virtual particles
Abstract
In modern robotics, the questions of local navigation of mobile robots (MRs) providing the purposeful movement of the robot in an environment with obstacles gain all the most urgency. At the same time, the most popular are the methods of local navigation of the MR based on the use of artificial potential fields (PFs) generating virtual forces of "attraction" to the target and "repulsion" from obstacles. However, their application faces the problem of potential pits, which are local "traps" for MRs. The new method of potential guidance of the MR that is based on the concept of a "fairway" and allows one not only to solve the problem of "traps," but also to choose an optimal route of the robot's movements to the target is stated in the paper. The constructive aspects of the "fairway" method are discussed, and a virtual particle method is proposed to find the desired "fairway" on the map of force lines of the PF.
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