A new efficient control algorithm using potential field: extension to robot path tracking

摘要

Intensive study has been given to robot navigation in the past decade. Among various proposed contributions in robot study, potential field (PF) methods enjoy a great reputation in robotics applications due to their simplicity, elegance, and high efficiency. However, despite the intensive study in designing suitable PFs for real applications and raising possible remedies for their inherent limitations with the aid of other means, few works have concentrated on accurate tracking motion control using PFs. The problem of controlling wheeled mobile robot platforms to track a path is studied. We take our inspiration from the concept of potential fields, give a different interpretation to them, and then propose a new efficient tracking control algorithm using VOPF (virtual obstacle potential field) since obstacles nearby the robot are imaginary. Meanwhile, this method takes advantage of the strengths of PFs and the virtual vehicle approach. Based on mathematical analysis, the paper presents its feasibility. Also, the methodology can be applied to any mobile robot since it is model independent.