Author(s)

G. Gini & G.P. Picco

Abstract

RobotSIM: An environment for obstacle avoidance control based on a potential field method G. Gini & G.P. Picco Department of Electronics and Information, Politecnico di Milano, Italy ABSTRACT We present a simulation system that moves amobile robot in a world cluttered with obstacles using a potential field function. Following the method proposed by Bruce Krogh we take into account if the current position of the controlled system as well as its current velocity. The method relies on a double strategy for control: a time-optimal control, based on the bang-bang control, is performed in absence of obstacles, while a potential field control, enriched with some heuristics, is used when obstacles are present. The mathematical formulation is made in such a way that the first control strategy can be regarded as a subclass of the more general second strategy. 1. INTRODUCTION In order to achieve the ultimate goal of creating autonomous robots, Robotics Science has to

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