Local obstacle avoidance for mobile robots based on the method of artificial potentials

In the method of artificial potentials, the robot behaves like a charged particle that is attracted by the goal position and repelled by the obstacles. An overview of the method is presented which describes the common variations in a unified framework, compares the performances of the different algorithms, and corrects some common misunderstandings. It is shown that force control algorithms with generalized potentials (which depend on velocity as well as position) offer advantages over other alternatives. Also discussed are the problems of stability and convergence