New Approach for Use of the Potential Fields Method in Mobile Robotics

Abstract

In the famous papers dedicated to the method of the potential fields in mobile robotics is attached to particular significance to the mechanism of the force action for the movement of robot which defines the law of the rate of change of its movement. In the present paper the new methodology of use of the virtual fields is suggested: the force aspect is excluded and the strength lines of the produced field give only desired trajectories of the robot's movement where the movement along the given trajectory is realized by two-contour control system: by the direction and the rate of robot’ movement. The question of the construction of the attracting and repelling potentials is considered. The results of the imitative simulation of the trajectory control by the movement of two-wheeled robot are reduced.