CONSTRUCTIVE ASPECTS OF THE METHOD OF POTENTIAL FIELDS IN MOBILE ROBOTICS
A. B. Filimonov1,2, N. B. Filimonov3,4
1MIREA - Russian 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, artificial potential fields, field lines of force, trajectory control
Abstract
In the well-known publications 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, which determines the law of change in the speed 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 generated field define only the desired trajectories of the robot movement, and following a given trajectory is ensured by a two-contour control system for the direction and speed of the robot movement. The question of constructing attracting and repulsive potentials is discussed. The results of the simulation of the trajectory control of a two-wheeled robot are presented.
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