Time-variant artificial potential fields: A new power-saving strategy for navigation of autonomous mobile robots

摘要

In this paper, a new method is proposed to optimize the time of mission which in turn saves the consumed energy that usually is supplied by rechargeable batteries. The proposed power-saving approach is a new time-variant artificial potential field that is based on the movement of shadow around the obstacle on the surface. This new method increases the robust behavior of the navigation system based on usage of artificial potential fields and Panel theory. Furthermore, there is an investigation for decreasing computational complexity of new potential term with consideration of principal geometrical form of obstacles. Obtained results reveal the merits of the new proposed approach in finding the optimal time for the mission which leads to minimum energy consumption.