Title :
Obstacle Avoidance and Two Wheeled Mobile Robot Control Using Potential Function
Author :
Sekiguchi, Katsuya ; Deng, Mingcong ; Inoue, Akira
Author_Institution :
Okayama Univ., Okayama
Abstract :
An obstacle avoidance scheme of two wheeled mobile robot is shown by selecting an appropriate Lyapunov function based on potential field method. When considering the obstacle, Lyapunov function may have some local minima. A method which erases the local minima is proposed by using a function which covers the minima by a plane surface. The effectiveness of the proposed method is verified by numerical simulations.
Keywords :
Lyapunov methods; collision avoidance; mobile robots; Lyapunov function; obstacle avoidance; potential field method; two wheeled mobile robot control; Angular velocity control; Control systems; Lyapunov method; Mobile robots; Motion control; Numerical simulation; Potential well; Robot control; Robot kinematics; Systems engineering and theory;
Conference_Titel :
Industrial Technology, 2006. ICIT 2006. IEEE International Conference on
Conference_Location :
Mumbai
Print_ISBN :
1-4244-0726-5
Electronic_ISBN :
1-4244-0726-5
DOI :
10.1109/ICIT.2006.372703
