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Mobile Robot Rendezvous Using Potential Fields combined With Parallel Navigation
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DOI：10.1109/ACCESS.2018.2802468.png)
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Abstract
En 中文
Industrial robotics, military, surveying, and delivery applications have laid a foundation for research into autonomous machines, including unmanned aerial vehicles, autonomous ground vehicles, and autonomous undersea vehicles. This paper supports this research by developing a new guidance method which combines potential fields, typically used for obstacle avoidance, and parallel navigation, a popular missile guidance method. The new unified algorithm allows a mobile robot interceptor to guide to, and rendezvous with, a moving target while avoiding obstacles in its path. A Matlab simulator is used to analyze performance for different interceptor-target geometries and obstacle densities. Simulations and analysis show that the combined algorithm increases performance by reducing the time-to-contact in most of the cases. Specifically, it was found to provide a 14.4%-21.3% improvement in approximately 96%-98% of the simulation cases.
Keywords:
Guidance
mobile robots
parallel navigation
path planning
potential fields
robots
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