Mobile robots motion control in crowded environments using quasi-harmonic method

摘要

Mobile robot motion control with collision avoidance is investigated in this paper for the case of unknown obstacles which are locally sensed. Motion control achieves in this case a reactive motion using velocity potential fields approach in a modified, quasi-harmonic, solution. Analytical solutions and simulations show how the harmonic solution for collision avoidance can be separated smoothly from a non-harmonic solution for positioning at a fixed goal.