Obstacle Avoidance using Biomimetic Potential function derived from bat’s flight behavior

摘要

In this research, concerning a recently reported model for a bat flight derived from experimentalrnmeasurements, we give a theoretic characterization of a bat’s control model in terms of potential functions. The summationrnof the potential functions can create the field such that the desired point is stable and the obstacles are saddle, and is suitablernfor steering vehicle’s navigation with obstacle avoidance. Thus we proposed a new control law for the vehicle’s navigationrnsuch that the vehicle moves following the gradient of the bat’s potential functions. Finally, we showed the effectiveness ofrnthe our proposal control law by the numerical simulations under two conditions such that (i)blocking the right side of thernvehicle’s way by forming a wall of three obstacles, (ii) blocking the both side of the vehicle’s way by forming two walls ofrnthree obstacles.